Related papers: Efficient sliding locomotion of three-link bodies
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states…
Snake robots are inspired by the ability of biological snakes to move over rock, grass, leaves, soil, up trees, along pavement and more. Their ability to move in multiple distinct environments is due to their legless locomotion strategy,…
We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to…
A mechanical system consisting of an elastic beam under harmonic excitation and an attached sliding body is investigated. Recent experimental observations suggest that the system passively (self-)adapts the axial location of the slider to…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
We investigate the structure and mechanical behavior of assemblies of frictionless, nearly rigid equal-sized beads, in the quasistatic limit, by numerical simulation. Three different loading paths are explored: triaxial compression,…
We study the lubricated contact of sliding soft surfaces that are locally patterned but globally cylindrical, held together under an external normal force. The local patterns represent either naturally occurring surface roughness or…
Starting from a symmetric triangular pile with a horizontal basis and rotating the basis in the vertical plane, we have determined the evolution of the stress distribution as a function of the basis inclination using Finite Elements method…
Structural superlubricity is an intriguing physical phenomenon, whereby sliding at a structurally incommensurate, atomically flat interface yields vanishingly small friction forces. Despite its recent experimental validation, critical…
A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…
The molecular mechanism of slip at the interface between polymer melts and weakly attractive smooth surfaces is investigated using molecular dynamics simulations. In agreement with our previous studies on slip flow of shear-thinning fluids,…
We study static packings of frictionless and frictional spheres in three dimensions, obtained via molecular dynamics simulations, in which we vary particle hardness, friction coefficient, and coefficient of restitution. Although…
Minimising the energy consumption associated with periodic motion is a priority common to a wide range of technologies and organisms - among them, many species of flying insect, for which flapping-wing flight is a life-essential mode of…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
We describe benchmark experiments to evaluate the frictional properties of laser patterned low-density polyethylene as a function of sliding velocity, normal force and humidity. The pattern is a square lattice of square cavities with sub-mm…
Friction, the resistive force between two surfaces sliding past each other, is at the core of a wide diversity of locomotion schemes. While such schemes are somewhat understood for homogeneous environments, locomotion based on friction in…
Using a powerful combination of projection-operator method and path-space response theory, we derive the fluctuation dynamics of a slow inertial probe coupled to a steady nonequilibrium medium under the assumption of time-scale separation.…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
We report numerical simulations on granular shear flows confined between two flat but frictional sidewalls. Novel regimes differing by their strain localization features are observed. They originate from the competition between dissipation…
When quickly detaching an elastomer from a counterface, viscoelasticity dramatically increases the perceived adhesion relative to its adiabatic or equilibrium value. Here, we report simulations on the sticking contact between a rigid…