Related papers: Implicit frictional dynamics with soft constraints
We report on memory effects involved in the transient frictional response of a contact interface between a silicone rubber and a spherical glass probe when it is perturbed by changes in the orientation of the driving motion or by velocity…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
Thin-walled structures clamped by friction joints, such as aircraft skin panels are exposed to bending-stretching coupling and frictional contact. We propose an original sub-structuring approach, where the system is divided into thin-walled…
Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…
We consider some basic principles of fluid-induced lubrication at soft interfaces. In particular, we show how the presence of a soft substrate leads to an increase in the physical separation between surfaces sliding past each other. By…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
We propose a novel and efficient lifting approach for the optimal control of rigid-body systems with contacts to improve the convergence properties of Newton-type methods. To relax the high nonlinearity, we consider the state, acceleration,…
In this paper, we present a principled method to model general planar sliding motion with distributed convex contact patch. The effect of contact patch with indeterminate pressure distribution can be equivalently modeled as the contact…
We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…
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…
Paradoxes in the impact dynamics of rigid bodies are known to arise in the presence of friction. We show here that, on specificc occasions, in the absence of friction, the conservation laws of classical mechanics are also incompatible with…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
Friction modulation allows for a range of different sensations and textures to be simulated on flat touchscreens, yet is largely unable to render fundamental tactile interactions such as path following or shape discrimination due to lack of…
Accelerated molecular dynamics (MD) simulations are implemented to model the sliding process of AFM experiments at speeds close to those found in experiment. In this study the hyperdynamics method, originally devised to extend MD time…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
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…
In the context of geometric Impulsive Mechanics of systems with a finite number of degrees of freedom, we model the roughness of a unilateral constraint ${\mathcal S\/}$ by introducing a suitable instantaneous kinetic constraint ${\mathcal…
The stochastic dynamics of a rigid inclusion constrained to move on a curved surface has many applications in biological and soft matter physics, ranging from the diffusion of passive or active membrane proteins to the motion of phoretic…
Differentiable simulation establishes the mathematical foundation for solving challenging inverse problems in computer graphics and robotics, such as physical system identification and inverse dynamics control. However, rigor in frictional…
We discuss the results of simulations of an intruder pulled through a two-dimensional granular system by a spring, using a model designed to lend insight into the experimental findings described by Kozlowski et al. [Phys. Rev. E, 100,…