Related papers: Dynamic Model of Planar Sliding
We report an instability of a slider slowly dragged at the surface of a granular bed in a quasistatic regime. The boat-shaped slider sits on the granular medium under its own weight and is free to translate vertically and to rotate around…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
We introduce a simple model to describe the frictional properties of granular media under shear. We model the friction force in term of the horizontal velocity v and the vertical position z of the slider, interpreting z as a constitutive…
Fitting two different materials is a versatile methodology in manufacturing complex structures. One of the canonical models for fitting is the snap-fit model, in which flexible materials and rigid structures are assembled by pushing their…
Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…
We consider a model problem of the scattering of linear acoustic waves in free homogeneous space by an elastic solid. The stress tensor in the solid combines the effect of a linear dependence of strains with the influence of an existing…
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the…
We study asymptotic dynamics of a coupled system consisting of linearized 3D Navier--Stokes equations in a bounded domain and the classical (nonlinear) elastic plate equation for in-plane motions on a flexible flat part of the boundary. The…
The dynamics of polymer decompression, i.e., a process from compressed, compact state to the relaxed swoll en conformation, can be formally described as a {\it nonlinear diffusion}. We discuss here two basic examples: (i) the expansion, or…
We consider the impingement of a droplet onto a wall with high impact speed. To model this process we favour a diffuse-interface concept. Precisely, we suggest a compressible Navier--Stokes--Allen--Cahn model. Basic properties of the model…
We introduce a contact law for the normal force generated between two contacting, elastically anisotropic bodies of arbitrary geometry. The only requirement is that their surfaces be smooth and frictionless. This anisotropic contact law is…
We present a solvable model inspired by dimensional analysis for the time-dependent spreading of droplets that partially wet a substrate, where the spreading eventually stops and the contact angle reaches a nonzero equilibrium value. We…
We describe a 2D spring-block model for the transition from static to kinetic friction at an elastic slider/rigid substrate interface obeying a minimalistic friction law (Amontons-Coulomb). By using realistic boundary conditions, a number…
This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to…
In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the same time predicting essential trends and capturing rich…
A continuum electromechanical model is proposed to describe the membrane curvature induced by electrostatic interactions in a solvated protein-membrane system. The model couples the macroscopic strain energy of membrane and the…
We introduce a class of discrete models for surface relaxation. By exactly solving the master equation which governs the microscopic dynamics of the surface, we determine the steady state of the surface and calculate its roughness. We will…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
We propose an efficient numerical method for the simulation of multi-phase flows with moving contact lines in three dimensions. The mathematical model consists of the incompressible Navier-Stokes equations for the two immiscible fluids with…