Related papers: Rubber friction and tire dynamics
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
We study the deformations of elastic filaments confined within slowly-shrinking circular boundaries, under contact forces with friction. We perform computations with a spring-lattice model that deforms like a thin inextensible filament of…
Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering…
The friction force, friction coefficients and the effects on the dynamics of particles, bodies and systems, are fundamental themes in university physics of the first cycles and also in general physics courses of upper secondary education in…
Following the observations of the self-similarity in various length scales in the roughness of the fractured solid surfaces, we propose here a new model for the earthquake. We demonstrate rigorously that the contact area distribution…
Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…
We study a model of rolling particles subject to stochastic fluctuations, which may be relevant in systems of nano- or micro-scale particles where rolling is an approximation for strong static friction. We consider the simplest possible…
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…
The friction and adhesion between elastic bodies are strongly influenced by the roughness of the surfaces in contact. Here we develop a multiscale molecular dynamics approach to contact mechanics, which can be used also when the surfaces…
In the first part of the paper we show that the constraining potentials introduced to mimic entanglement effects in Edwards' tube model and Flory's constrained junction model are diagonal in the generalized Rouse modes of the corresponding…
The interplay between Coulomb friction and random excitations is studied experimentally by means of a rotating probe in contact with a stationary granular gas. The granular material is independently fluidized by a vertical shaker, acting as…
We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a…
The structured deformation theory is used within the thermodynamics of irreversible processes framework in order to build a damage model relevant for quasi-brittle materials. The cracks are supposed smeared in the body and their shape is…
Modeling of frictional contacts is crucial for investigating mechanical performances of composite materials under varying service environments. The paper considers a linear elasticity system with strongly heterogeneous coefficients and…
Recent model simulations discovered unexpected non-monotonic features in the wear-free dry phononic friction as a function of the sliding speed. Here we demonstrate that a rather straight- forward application of linear-response theory,…
We develop the theory for stick-slip motion in ultra-thin liquid films confined between two moving atomically-flat surfaces. Our model is based on hydrodynamic equation for the flow coupled to the dynamic order parameter field describing…
Active control of friction by ultrasonic vibration is a well-known effect with numerous technical applications ranging from press forming to micromechanical actuators. Reduction of friction is observed with vibration applied in any of the…
Traffic simulators act as an essential component in the operating and planning of transportation systems. Conventional traffic simulators usually employ a calibrated physical car-following model to describe vehicles' behaviors and their…
Understanding how stick-slip dynamics manifests in diverse physical conditions is a crucial topic in tribology. Although it has been extensively studied in simple frictional configurations, the characterization of stick-slip behavior in…
The theory of urban traffic flow has been developed and new types of meta-automata have emerged and simulate realistic traffic conditions relatively well. Among these models, the brake light model can simulate the three-phase traffic flow…