Related papers: Active contacts create controllable friction
Molecular dynamics study of a thin (one to five layers) lubricant film between two substrates in moving contact are performed using Langevin equations with an external damping coefficient depending on distance and velocity of atoms relative…
This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to…
A hydrophilic liquid, such as water, forms hydrogen bonds with a hydrophilic substrate. The strength and locality of the hydrogen bonding interactions prohibit slip of the liquid over the substrate. The question then arises how the contact…
We study a regularisation of Coulomb's friction law on the propagation of local slip at an interface between a deformable and a rigid solid. This regularisation, which was proposed based on experimental observations, smooths the effect of a…
The nonlinear dynamics associated with sliding friction forms a broad interdisciplinary research field that involves complex dynamical processes and patterns covering a broad range of time and length scales. Progress in experimental…
Smart surfaces that reversibly change the interfacial friction coefficients in response to external stimuli enable a wide range of applications, such as grips, seals, brake pads, packaging films, and fabrics. Here a new concept of such a…
The rolling motion of a rigid cylinder on an inclined flat viscous surface is investigated and the nonlinear resistance force against rolling, $F_R(v)$, is derived. For small velocities $F_R(v)$ increases with velocity due to increasing…
Many devices, including touchscreens and robotic hands, involve frictional contacts. Optimizing these devices requires fine control of the interface's friction law. We lack systematic methods to create dry contact interfaces whose…
The physics of dynamic friction on water molecule contaminated surfaces is still poorly understood. In line with the growing interest in hydrophobic contact for industrial applications, this paper focuses on friction mechanisms in such…
The mechanical response of elastic porous media confined within rigid geometries is central to a wide range of industrial, geological, and biomedical systems. However, current models for these problems typically overlook the role of wall…
The temperature increase in the contact regions between solids in sliding contact has a huge influence on friction and wear. Here we test an analytical theory for the flash temperature, valid for randomly rough surface with multiscale…
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…
Anisotropy of friction force is proved to be an important factor in various contact problems. We study dynamical behavior of thin plates with respect to symmetric and asymmetric orthotropic friction. Terminal motion of plates with circular…
This study numerically investigated the friction of viscoelastic objects with grooves. A 3D viscoelastic block with grooves on a rigid substrate is slowly pushed from the lateral side under uniform pressure on the top surface. The local…
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…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
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…
Friction experiments were conducted on hydrogel thin films sliding against a rigid sphere in a low velocity regime where molecular adsorption at the sliding interface sets the friction force, through a dissipative…
The transition from stick to slip at a dry frictional interface occurs through the breaking of the junctions between the two contacting surfaces. Typically, interactions between the junctions through the bulk lead to rupture fronts…
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…