Related papers: Efficient sliding locomotion of three-link bodies
The swimming of an assembly of rigid spheres immersed in a viscous fluid of infinite extent is studied in low Reynolds number hydrodynamics. The instantaneous swimming velocity and rate of dissipation are expressed in terms of the…
In the framework of a Frenkel-Kontorova-like model, we address the robustness of the superlubricity phenomenon in an edge-driven system at large scales, highlighting the dynamical mechanisms leading to its failure due to the slider…
We present and analyse a numerical method for understanding the low-inertia dynamics of an open, inextensible viscoelastic rod - a long and thin three dimensional object - representing the body of a long, thin microswimmer. Our model allows…
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…
While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class of overconstrained…
The motion of an elastic body over a rough surface is simulated in one dimension using Newtonian dynamics. We drive the body by prescribing a constant velocity. We extract the friction force from the work done by the applied force in order…
Path planning has long been an important and active research area in robotics. To address challenges in high-dimensional motion planning, this study introduces the Force Direction Informed Trees (FDIT*), a sampling-based planner designed to…
Using a combination of theory, experiment, and simulation, we revisit the dynamics of two coupled metronomes on a moving platform. Our experiments show that the platform's motion is damped by a dry friction force of Coulomb type, not the…
We derive useful reduction formulae which express one-loop Feynman integrals with a large number of external momenta in terms of lower-point integrals carrying easily derivable kinematic coefficients which are symmetric in the external…
Relative motion between soft wet solids arises in a number of applications in natural and artificial settings, and invariably couples elastic deformation and fluid flow. We explore this in a minimal setting by considering a fluid-immersed…
Breakloose friction, the transient force peak at the onset of sliding, is often pronounced in nanoscale contacts but weak or absent in macroscopic systems. Although this behavior is commonly associated with rupture fronts and process-zone…
Coherent structures in aspect ratio 2, axis-switching elliptical jets are studied using direct numerical simulation (DNS). Three different datasets are studied with varying near-nozzle forcing levels. Increasing the forcing level causes the…
Friction between ordered, atomically smooth surfaces at the nanoscale (nanofriction) is often governed by stick-slip processes. To test long-standing atomistic models of such processes, we implement a synthetic nanofriction interface…
In topology optimization of compliant mechanisms, the specific placement of boundary conditions strongly affects the resulting material distribution and performance of the design. At the same time, the most effective locations of the loads…
In a bearing state, touching spheres (disks in two dimensions) roll on each other without slip. Here we frustrate a system of touching spheres by imposing two different bearing states on opposite sides and search for the configurations of…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Standard problem of one-degree-of-freedom mechanical systems with Coulomb friction is revised for a relay-based feedback stabilization. It is recalled that such a system with Coulomb friction is asymptotically stabilizable via a relay-based…
Propulsion of otherwise passive objects is achieved by mechanisms of active driving. We concentrate on cases in which the direction of active drive is subject to spontaneous symmetry breaking. In our case, this direction will be maintained,…
We discuss the stick-slip motion of an elastic block sliding along a rigid substrate. We argue that for a given external shear stress this system shows a discontinuous nonequilibrium transition from a uniform stick state to uniform sliding…