Related papers: An experiment to address conceptual difficulties i…
The problem of a disc or cylinder initially rolling with slipping on a surface and subsequently transitioning to rolling without slipping is often cited in textbooks. The following experiment serves to clearly demonstrate the transition…
This study explores an alternative approach to video-based motion analysis using natural reference frames rather than relying on manual alignment. We demonstrate how the motion data itself can reveal optimal reference frames, connecting…
A mathematical model is derived for the dynamics of a cylinder, or wheel, rolling over a thin viscous film. The model combines the Reynolds lubrication equation for the fluid with an equation of motion for the wheel. Two asymptotic limits…
The two-dimensional motion of an object on a moving rough horizontal plane is investigated. Two cases are studied: the plane having a translational acceleration, and a rotating plane. For the first case, the motions of a point particle and…
This paper presents the validation of a computational tool that serves to obtain continuous measurements of moving objects. The software uses techniques of computer vision, pattern recognition and optical flow, to enable tracking of objects…
In the problem of cylinder rolling without slipping on a horizontal floor, both the cylinder and floor are generally treated as rigid bodies in normal textbooks. When the air resistance is ignored, the equation of motion has a solution with…
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…
Vision is one of the primary sensing modalities in autonomous driving. In this paper we look at the problem of estimating the velocity of road vehicles from a camera mounted on a moving car. Contrary to prior methods that train end-to-end…
Rubber friction is of major practical importance in applications such as tires, rubber seals, and footwear. This review article focuses on the theory and experimental studies of rubber friction on substrates with random roughness. We…
The motion of a vertically positioned bicycle is considered when a horizontal control force, which maybe both internal and external in relation to the bicycle, is applied to its pedal. Tangential forces of dryfriction obeying the Euler {…
The rolling motion of a rigid cylinder on an inclined flat viscous surface is investigated and the nonlinear resistance force against rolling, $F_R(v)$, is derived. For small velocities $F_R(v)$ increases with velocity due to increasing…
The problem of a cylinder of mass m and radius r, with its center of mass out of the cylinder axis, rolling on an incline that makes an angle with respect to the horizontal is analyzed. The equation of motion is partially solved to obtain…
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…
Without the use of cameras to record 2D motion and an appropriate analysis tool, creating a laboratory activity for students to experience the vector nature of momentum can be challenging. Even with appropriate measurement tools, it is…
The motion of submerged magnetic microspheres rolling at a glass-water interface has been studied using magnetic rotation and optical tweezers combined with bright-field microscopy particle tracking techniques. Individual microspheres of…
We calculate the friction force acting on a hard cylinder or spherical ball rolling on a flat surface of a viscoelastic solid. The rolling friction coefficient depends non-linearly on the normal load and the rolling velocity. For a cylinder…
Several scenarios used in teaching feature a rolling motion with slipping that transitions to one without through friction with the ground. We summarise these transitions by introducing an unknown impulse that is transferred to the ground.…
We investigate the dynamics of a bicycle on an uneven mountain bike track split into straight sections with small jumps (kickers) and banked corners. A basic bike-rider model is proposed and used to derive equations of motion, which capture…
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…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…