Related papers: Efficient sliding locomotion of three-link bodies
In order to examine the influence of system dynamics on sliding friction, we introduce the so-called micro-walking machine. This model consists of a rigid body with a number of elastic contact spots that is pulled by a constantly moving…
We consider a swimmer consisting of a collinear assembly of three spheres connected by two slender rods. This swimmer can propel itself forward by varying the lengths of the rods in a way that is not invariant under time reversal. Although…
In this theoretical study, we present an analytical framework to investigate the slithering motion of snakes on flat surfaces. While previous studies have predominantly relied on numerical methods to identify optimal locomotion kinematics,…
Amontons' law states that the maximum static friction force on a solid object is proportional to the loading force and is independent of the apparent contact area. This law indicates that the static friction coefficient does not depend on…
Biomimetic scale-covered substrates provide geometric tailorability via scale orientation, spacing and also interfacial properties of contact in various deformation modes. No work has investigated the effect of friction in twisting…
Friction is central to the motion of active (self-propelled) objects such as bacteria, animals, and robots. While in a viscous fluid friction is described by Stokes's law, objects in contact with other solid bodies are often governed by…
We investigate the propagation of fluid-driven fault slip on a slip-weakening frictional interface separating two identical half-spaces of a three-dimensional elastic solid. Our focus is on axisymmetric circular shear ruptures as they…
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports this hypothesis, but has not fully exploited the nonlinear…
In a Hilbert space $H$, in order to develop fast optimization methods, we analyze the asymptotic behavior, as time $t$ tends to infinity, of inertial continuous dynamics where the damping acts as a closed-loop control. The function $f: H…
Scales engagement can contribute significantly to nonlinear bending behavior of elastic substrates with rigid biomimetic scales. In this letter, we investigate the role of friction in modulating the nonlinearity that arises due to…
An adjoint-based optimization is applied to study the thrust performance of a pitching-rolling ellipsoidal plate in a uniform stream at Reynolds number 100. To achieve the highest thrust, the optimal kinematics of pitching-rolling motion is…
The folded node is a singularity associated with loss of normal hyperbolicity in systems where mixtures of slow and fast timescales arise due to singular perturbations. Canards are special solutions that reveal a counteractive feature of…
We formulate and solve the locomotion problem for a bio-inspired crawler consisting of two active elastic segments (i.e., capable of changing their rest lengths), resting on three supports providing directional frictional interactions. The…
By means of Molecular Dynamics simulations, we investigate the elementary process of avalanches and size segregation by surface flow in 2 dimensions: a single ball confined to moving along an inclined line consisting of balls. The global…
The phenomenon of Coulombic friction enters the stochastic description of dry friction between two solids and the statistic characterization of vibrating granular media. Here we analyze the corresponding Fokker-Planck equation including…
In this paper we study crawling locomotion based on directional frictional interactions, namely, frictional forces that are sensitive to the sign of the sliding velocity. Surface interactions of this type are common in biology, where they…
Sliding along frictional interfaces separating dissimilar elastic materials is qualitatively different from sliding along interfaces separating identical materials due to the existence of an elastodynamic coupling between interfacial slip…
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…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
The nonlinear dynamics associated with sliding friction forms a broad interdisciplinary research field that involves complex dynamical processes and patterns covering a broad range of time and length scales. Progress in experimental…