Vehicle moving against gravity with a dual-wheel steering system in shallow dense granular media

Experimentally, it has been shown that there is a jammed area in front of a fast-moving object in 2D athermal granular media. Utilizing this fact, we design a vehicle, equipped with a dual-wheel steering system, moving in a dense quasi-2D granular medium of ping-pong balls. The steering system is able to disturb the jammed area and allows the vehicle to move easier and alter its moving direction freely. We also present preliminary results of the vehicle moving against gravity in a 3D environment.