Related papers: Multi-mode active control of friction, dynamic rat…
The metriplectic formalism couples Poisson brackets of the Hamiltonian description with metric brackets for describing systems with both Hamiltonian and dissipative components. The construction builds in asymptotic convergence to a…
The transition from static to dynamic friction when an elastic body is slid over another is now known to result from the motion of interface rupture fronts. These fronts may be either crack-like or pulse-like, with the latter involving…
A single frictional elastic disk, supported against gravity by two others, rotates steadily when the supports are vibrated and the system is tilted with respect to gravity. Rotation is here studied using Molecular Dynamics Simulations, and…
The goal of this PhD thesis was to characterize the properties of friction in nanotubes and from a more general point of view the understanding of the microscopic origin of friction. Indeed, the relative simplicity of the system allows us…
Friction is central to the motion of active (self-propelled) objects such as bacteria, animals, and robots. While in a viscous fluid friction is described by Stokes's law, objects in contact with other solid bodies are often governed by…
Friction laws, which are a key to the understanding of the diversity of earthquakes, are considered theoretically. Using dimensional analysis, the logarithmic dependence of the friction coefficient on the slip velocity and the state…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
In this paper we study activity fluctuations in an asymmetric death-branching process in one-dimension. The model, which is a variant of the asymmetric Glauber model, has already been studied in [12]. It is known that in the low-activity…
Numerous laboratory experiments have demonstrated the dependence of the friction coefficient on the interfacial slip rate and the contact history, a behavior generically called rate and state friction. Although numerical models have been…
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…
A simple model for solid friction is analyzed. It is based on tangential springs representing interlocked asperities of the surfaces in contact. Each spring is given a maximal strain according to a probability distribution. At their maximal…
This paper proposes a novel method for prevention of the increasing oscillation of an aircraft wing under the flexural torsion flutter. The paper introduces the novel multi-agent method for control of an aircraft wing, assuming that the…
The dynamic behavior of AFM is studied taking into account the nonlinear interaction forces between probe and sample. The exerted forces on the free end of micro-beam are simulated with the third degree polynomial. The effect of some…
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that…
Pattern-forming metamaterials feature microstructures specifically designed to change the material's macroscopic properties due to internal instabilities. These can be triggered either by mechanical deformation or, in the case of active…
While there are a number of models that tackle the problem of calculating friction forces on the atomic level, providing a completely parameter-free approach remains a challenge. Here we present a quasi-static model to obtain an…
Friction is the essential mediator of terrestrial locomotion, yet in robotic systems it is almost always treated as a passive property fixed by surface materials and conditions. Here, we introduce ultrasonic lubrication as a method to…
It has long been recognized that the key to understand kinetic friction force $F_k$ is the analysis of microscopic instabilities that lead to sudden irreversible "pops" of certain degrees of freedom. In this Letter, the nature of such…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…