Related papers: Efficient sliding locomotion of three-link bodies
This article presents computationally efficient algorithms for modeling two special cases of rigid contact---contact with only viscous friction and contact without slip---that have particularly useful applications in robotic locomotion and…
In nature, limbless locomotion is adopted by a wide range of organisms at various length scales. Interestingly, undulatory, crawling and inching/looping gait constitutes a fundamental class of limbless locomotion and is often observed in…
We propose a new conceptual approach to reach unattained dissipative properties based on the friction of slender concentric sliding columns. We begin by searching for the optimal topology in the simplest telescopic system of two concentric…
In many sliding systems consisting of solid object on a solid substrate under dry condition, the friction force does not depend on the apparent contact area and is proportional to the loading force. This behaviour is called Amontons' law…
Saving energy and enhancing performance are secular preoccupations shared by both nature and human beings. In animal locomotion, flapping flyers or swimmers rely on the flexibility of their wings or body to passively increase their…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
This study proposes a novel topology optimization method for unsteady fluid flows induced by actively moving rigid bodies. The key idea of the proposed method is to decouple the design and analysis domains by using separate grids. The…
We study a model of rolling particles subject to stochastic fluctuations, which may be relevant in systems of nano- or micro-scale particles where rolling is an approximation for strong static friction. We consider the simplest possible…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
Object transport tasks are fundamental in robotic automation, emphasizing the importance of efficient and secure methods for moving objects. Non-prehensile transport can significantly improve transport efficiency, as it enables handling…
This paper investigates two optimization criteria for damping optimization in a multi-body oscillator system with arbitrary degrees of freedom ($n$), resembling string/rod free vibrations. The total average energy over all possible initial…
The morphology of an elastic strip subject to vertical compressive stress on a frictional rigid substrate is investigated by a combination of theory and experiment. We find a rich variety of morphologies, which -when the bending elasticity…
Molecular dynamics study of a thin (one to five layers) lubricant film between two substrates in moving contact are performed using Langevin equations with an external damping coefficient depending on distance and velocity of atoms relative…
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…
Over the past few decades, oscillating flexible foils have been used to study the physics of organismal propulsion in different fluid environments. Here we extend this work to a study of flexible foils in a frictional environment. When the…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
The elastohydrodynamics of slender bodies in a viscous fluid have long been the source of theoretical investigation, being pertinent to the microscale world of ciliates and flagellates as well as to biological and engineered active matter…
An exact transformation method is introduced that reduces the governing equations of a continuum structure coupled to strong nonlinearities to a low dimensional equation with memory. The method is general and well suited to problems with…
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…