Related papers: Efficient sliding locomotion of three-link bodies
We study the effects of temperature and sliding velocity on superlubricity in numerical simulations of the Frenkel-Kontorova model. We show that resonant excitations of the phonons in an incommensurate sliding body lead to an effective…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
The tribology between surfaces can have a profound impact on the response of a mechanical system, such as how granular particles are driven to flow. In this work, we perform experiments that time-resolve the tangential and normal components…
In this paper, we speculate on a possible application of Liquid Crystal Elastomers to the field of soft robotics. In particular, we study a concept for limbless locomotion that is amenable to miniaturisation. For this purpose, we formulate…
The dynamical behavior caused by dry friction is studied for a spring-block system pulled with constant velocity over a surface. The dynamical consequences of a general type of phenomenological friction law (stick-time dependent static…
Asymmetric damping is widely used in passive vehicle suspensions, with rebound damping often recommended to exceed compression damping by a factor of two to three. Despite its prevalence, this guideline remains largely empirical and lacks a…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…
The surface morphology of faults controls the spatial anisotropy of their frictional properties, and hence their mechanical stability. Such anisotropy is only rarely studied in seismology models of fault slip, although it might be paramount…
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…
Numerous laboratory experiments have demonstrated the dependence of the friction coefficient on the interfacial slip rate and the contact history, a behavior generically called rate and state friction. Although numerical models have been…
We present a novel method to investigate the dynamics of a single semiflexible polymer, subject to anisotropic friction in a viscous fluid. In contrast to previous approaches, we do not rely on a discrete bead-rod model, but introduce a…
Recently, we showed that optimization problems, both in infinite as well as in finite dimensions, for continuous variables and soft excluded volume constraints, can display entire isostatic phases where local minima of the cost function are…
The present paper is devoted to a theoretical analysis of sliding friction under the influence of oscillations perpendicular to the sliding plane. In contrast to previous works we analyze the influence of the stiffness of the tribological…
An axisymmetric squirmer in a Bingham viscoplastic fluid is studied numerically to determine the effect of a yield stress environment on locomotion. The nonlinearity of the governing equations necessitates numerical methods, which is…
Heavy traffic analysis for load balancing policies has relied heavily on the condition of state-space collapse onto a single-dimensional line in previous works. In this paper, via Lyapunov-drift analysis, we rigorously prove that even under…
The varying coefficient model has received broad attention from researchers as it is a powerful dimension reduction tool for non-parametric modeling. Most existing varying coefficient models fitted with polynomial spline assume equidistant…
In a variety of biological processes, eukaryotic cells use cilia to transport flow. Although cilia have a remarkably conserved internal molecular structure, experimental observations report very diverse kinematics. To address this…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
In a Hilbert setting, for convex differentiable optimization, we develop a general framework for adaptive accelerated gradient methods. They are based on damped inertial dynamics where the coefficients are designed in a closed-loop way.…
Linear and nonlinear resonant states can be restrictive: they exist at particular discrete states in frequency and/or elasticity, under particular (e.g., simple-harmonic) waveforms. In forced oscillators, this restrictiveness is an obstacle…