Related papers: Dynamic Model of Planar Sliding
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum…
Two main approaches in particle-based simulations for modeling a charged surface are using explicit, discrete charges and continuum, uniform charges. It is well-known that these two approaches could lead to substantially distinct ionic…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraints are imposed by enforcing positive distance between convex…
This paper represents a sequel to the previous one, where numerical solution of a quasistatic contact problem is considered for an elastic body in frictional contact with a moving foundation. The model takes into account wear of the contact…
We study the axisymmetric impact of a rigid sphere onto an elastic membrane theoretically and experimentally. We derive governing equations from first principles and impose natural kinematic and geometric constraints for the coupled motion…
We present a mathematical and numerical framework for thin-film fluid flows over planar surfaces including dynamic contact angles. In particular, we provide algorithmic details and an implementation of higher-order spatial and temporal…
The intricate interaction between the deformability of a substrate and the dynamic spreading of a liquid drop on the same, under the application of an electrical voltage, has remained far from being well understood. Here, we demonstrate…
The friction of a nanosized sphere in commensurate contact with a flat substrate is investigated by performing molecular dynamics simulations. Particular focus is on the distribution of shear stress within the contact region. It is noticed…
The inelastic hard sphere model of granular material is simple, easily accessible to theory and simulation, and captures much of the physics of granular media. It has three drawbacks, all related to the approximation that collisions are…
We investigate a one-dimensional model describing the motion of liquid drops sliding down an inclined plane (the so-called quasi-static approximation model). We prove existence and uniqueness of a solution and investigate its long time…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
We introduce an event-driven simulation scheme for overdamped dynamics of frictionless hard spheres subjected to external forces, neglecting hydrodynamic interactions. Our event-driven approach is based on an exact equation of motion which…
In continuum models of dislocations, proper formulations of short-range elastic interactions of dislocations are crucial for capturing various types of dislocation patterns formed in crystalline materials. In this article, the continuum…
Generalizing the well-known relations on characteristic functions on a plane to the case of a one-dimensional regular surface (curve) with compact support, we establish implicit equations for these functions. Introducing an approximation,…
In this paper, we present a comprehensive analysis of the contact mechanics associated with a micron-sized sliding asperity, which plays a crucial role in the abrasive wear processes. Utilising nanoscratch testing, we experimentally…
We study the nonlinear driven response and sliding friction behavior of the phase-field-crystal (PFC) model with pinning including both thermal fluctuations and inertial effects. The model provides a continuous description of adsorbed…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The formulation incorporates a new corotational material model with positive semi-definite Hessian, which allows us to extend…
We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax the high nonlinearity, we consider the state, acceleration,…