Related papers: On the locomotion of the slider within a self-adap…
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…
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…
We study the efficiency of sliding locomotion for three-link bodies in the presence of dry (Coulomb) friction. Friction coefficient space can be partitioned into several regions, each with distinct types of efficient kinematics. These…
The experiments involving a slider moving on top of granular media consisting of photoelastic particles in two dimensions have uncovered elaborate dynamics that may vary from continuous motion to crackling, periodic motion, and stick-slip…
We experimentally study the frictional behavior of a two-dimensional slider pulled slowly over a granular substrate comprised of photoelastic disks. The slider is vibrated at frequencies ranging from 0 to 30 Hz in a direction parallel to…
The present investigation deals with the dynamics of a two-degrees-of-freedom system which consists of a main linear oscillator and a strongly nonlinear absorber with small mass. The nonlinear oscillator has a softening hysteretic…
Many previous studies of sliding locomotion have assumed that body inertia is negligible. Here we optimize the kinematics of a three-link body for efficient locomotion and include among the kinematic parameters the temporal period of…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
We investigate a concept of passive, vibration-driven locomotion, in which a mechanical system achieves horizontal self-propulsion by resonantly harvesting energy from vertical environmental excitations (e.g. ambient vibrations of…
We study the statistical mechanics of a single active slider on a fluctuating interface, by means of numerical simulations and theoretical arguments. The slider, which moves by definition towards the interface minima, is active as it also…
The equations for the sliding of a single block driven by an elastic force show numerically a fast and a slow step in their dynamics when a dimensionless parameter is very large, a limit pertinent for many applications. An asymptotic…
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…
A pinned-free beam in axial fluid flow, subjected to feedback-based actuation at the pinned end, is investigated. The actuation may be a moment or a prescribed angle and it is proportional to the state (curvature, slope, or displacement) of…
In the area of bipedal locomotion, the spring loaded inverted pendulum (SLIP) model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present a novel analysis of the mathematical…
We consider conformation dynamics of a chain-like three-body bead-spring model, in which three point masses are connected in series by two springs and the conformation is defined by the bending angle between the two springs. Previous…
We study the motion of elastic networks driven over a random substrate. Our model which includes local friction forces leads to complex dynamical behavior. We find a transition to a sliding state which belongs to a new universality class.…
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…
A trimer is an object composed of three centimetrical stainless steel beads equally distant and is predestined to show richer behaviours than the bouncing ball or the bouncing dimer. The rigid trimer has been placed on a plate of a…
A piecewise-linear model with a single degree of freedom is derived from first principles for a driven vertical cantilever beam with a localized mass and symmetric stops. The resulting piecewise-linear dynamical system is smoothed by a…
Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a…