Based on micromechanical considerations at the level of grain contacts and taking into account the way in which kinematic and static quantities are "transported" between grain surface and grain centre, we identify appropriate measures related to energy dissipation due to rolling and sliding between grains, within both a discrete and a Cosserat continuum description. This allows us, within the framework of Cosserat plasticity, to identify appropriate invariants and formulate simple forms of the respective yield surfaces. The resulting model is shown to be a multiple-yield-surface generalisation of the model by Mühlhaus and Vardoulakis (Géotechnique, 1987). By introducing separate and clearly identified rolling-and sliding-resistance parameters, the model allows for separate activation of the respective dissipative mechanisms. Keywords Cosserat continuum • plasticity • granular micromechanics • sliding • rolling • energy dissipation 1 Introduction When describing a granular medium, we usually associate each particle with its centre. It is clear, however, that it is at the contacts between particles that all interesting phenomena take place. As stated by Cole & Peters [9] ".. . the relationship between the contact motions and resisting forces define the micro-scale properties of the medium". The contact between particles may include both sliding and rolling. Earlier studies of granular media silently assumed that almost all energy dissipation takes place at slid-ERC grant agreement n o 228051