Related papers: Failure of intuition in elementary rigid body dyna…
We study a one-dimensional gas of hard rods trapped in a harmonic potential, which breaks integrability of the hard-rod interaction in a non-uniform way. We explore the consequences of such broken integrability for the dynamics of a large…
We present a unified classical treatment of partially constrained elastic rods. Partial constraints often entail singularities in both shapes and reactions. Our approach encompasses both sleeve and adhesion problems, and provides simple and…
We compare experiments and direct numerical simulations to evaluate the accuracy of the Stokes-drag model, which is used widely in studies of inertial particles in turbulence. We focus on statistics at the dissipation scale and on extreme…
We show from experiments and simulations on vibration-activated granular matter that self-propelled polar rods in an elastic medium on a substrate turn and move towards each other. We account for this effective attraction through a…
We analyze the frictionless motion of a point-like particle that slides under gravity on an inverted conical surface. This motion is studied for arbitrary initial conditions and a general relation, valid within 13%, between the periods of…
The motion of a vertically positioned bicycle is considered when a horizontal control force, which maybe both internal and external in relation to the bicycle, is applied to its pedal. Tangential forces of dryfriction obeying the Euler {…
We experimentally demonstrate the emergence of directional rotation in thermally active-passive colloidal structures under optical confinement. The observed handedness of rotation of the structure can be controlled by changing the relative…
When two identical balls collide with equal inital speed on a horizontal groove, one can observe three trajectory types depending on the groove width. To explain this observation, we derive velocity diagrams of the balls motions from…
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is…
We study the impact of a projectile onto a bed of 3 mm grains immersed in an index-matched fluid. Specifically, we vary the amount of prestrain on the sample, strengthening the force chains within the system. We find this affects only the…
The rotational dynamics of anisotropic particles advected in a turbulent fluid flow are important in many industrial and natural setting. Particle rotations are controlled by small scale properties of turbulence that are nearly universal,…
The problem of determining the angle at which a point mass launched from ground level with a given speed is a standard exercise in mechanics. Similar, yet conceptually and calculationally more difficult problems have been suggested to…
A body moves in a medium composed of noninteracting point particles; interaction of particles with the body is absolutely elastic. It is required to find the body's shape minimizing or maximizing resistance of the medium to its motion. This…
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach builds upon the Planar Inverted Pendulum with Flywheel (PIPF)…
In many contexts the modal properties of a structure change, either due to the impact of a changing environment, fatigue, or due to the presence of structural damage. For example during flight, an aircraft's modal properties are known to…
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…
This work focuses on the bearing rigidity theory, namely the branch of knowledge investigating the structural properties necessary for multi-element systems to preserve the inter-units bearings when exposed to deformations. The original…
A new technique that utilizes surface integrals to find the force, torque and potential energy between two non-spherical, rigid bodies is presented. The method is relatively fast, and allows us to solve the full rigid two-body problem for…
Analytical models have been developed for fracture propagation over the last several decades and are now considered with renewed interest; the range of their applicability varies for different materials and different loading conditions.…
We study different models of radiating slowly rotating bodies up to the first order in the angular velocity. It is shown that up to this order the evolution of the eccentricity is highly model-dependent even for very compact objects.