Related papers: Efficient sliding locomotion with isotropic fricti…
This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach simplifies the planning process, enabling the optimizer to…
Screw-based propulsion systems offer promising capabilities for amphibious mobility, yet face significant challenges in optimizing locomotion across water, granular materials, and transitional environments. This study presents a systematic…
Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional forces. This paper aims to better understand the variability…
We present realistic 3D numerical simulations of elastic bodies sliding on top of each other in a regime of velocities ranging from meters to tens of meters per second using the so-called Smoothed Particle Hydrodynamics (SPH) method. Our…
A unifying slipping and sticking frictional impact model for multibody systems in contact with a frictional surface is presented. It is shown that the model can lead to energetic consistency in both slip state and stick state upon imposing…
Swimming fish and flying insects use the flapping of fins and wings to generate thrust. In contrast, microscopic organisms typically deform their appendages in a wavelike fashion. Since a flapping motion with two degrees of freedom is able,…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
We propose a simple mechanical model of locomotion induced by internal force and friction. We first construct a system of two elements as an analog of the bipedal motion. The internal force does not induce a directional motion by itself…
In this work, we analyse the stick-slip motion of a soft elastomeric block on a smooth, hard surface under the application of shear, which is induced by a puller moving at a steady velocity. The frictional stress is generated by make-break…
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…
Common gastropods such as snails crawl on a solid substrate by propagating muscular waves of shear stress on a viscoelastic mucus. Producing the mucus accounts for the largest component in the gastropod's energy budget, more than twenty…
We propose a sliding surface for systems on the Lie group $SO(3)\times \mathbb{R}^3$ . The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
The dynamics of moving solids with unilateral contacts are often modeled by assuming rigidity, point contacts, and Coulomb friction due to the simplicity of these models. The canonical example of a rigid rod with one endpoint slipping in…
In several biologically relevant situations, cell locomotion occurs in polymeric fluids with Weissenberg {number} larger than one. Here we present results of three-dimensional numerical simulations for the steady locomotion of a…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…
We analyze the motion of a particle in the gravity field along a family of differentiable curves taking into account the Coulomb friction forces. A parametric equation of the optimal curves is given that generalizes the cycloid one in this…
We propose a polynomial force-motion model for planar sliding. The set of generalized friction loads is the 1-sublevel set of a polynomial whose gradient directions correspond to generalized velocities. Additionally, the polynomial is…