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The problem of a general, symmetric contact, between elastically similar bodies, and capable of idealisation using half-plane theory, is studied in the presence of interfacial friction. It is subject to a constant set of loads - normal…
This paper presents a method for the optimization of multi-component structures comprised of two and three materials considering large motion sliding contact and separation along interfaces. The structural geometry is defined by an explicit…
We consider minimization problems with structured objective function and smooth constraints, and present a flexible framework that combines the beneficial regularization effects of (exact) penalty and interior-point methods. In the fully…
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…
Ductile damage models and cohesive laws incorporate the material plasticity entailing the growth of irrecoverable deformations even after complete failure. This unrealistic growth remains concealed until the unilateral effects arising from…
Finite element methods are used to study non-adhesive, frictionless contact between elastic solids with self-affine surfaces. We find that the total contact area rises linearly with load at small loads. The mean pressure in the contact…
We study the frictional adhesive contact of a rigid insulating sphere sliding past a multiferroic coating deposed onto a rigid substrate, based on the hybrid element method (HEM). The adhesion behavior is described based on the…
A height-function-based numerical approach is developed for enforcing contact angles on flat and curved solid surfaces within two-dimensional volume-of-fluid simulations. This method incorporates the contact line position into the curvature…
This paper introduces a method to enhance Interactive Imitation Learning (IIL) by extracting touch interaction points and tracking object movement from video demonstrations. The approach extends current IIL systems by providing robots with…
We have employed a numerical procedure to analyze the adhesive contact between a soft elastic layer and a rough rigid substrate. The solution of the problem is obtained by calculating the Green's function which links the pressure…
Contact angle is an essential physical quantity that characterizes the wettability of a substrate. Although it is widely used in the studies of surface wetting, capillary phenomena and moving contact lines, measuring contact angles in…
An extension to the interface finite element with eMbedded Profile for Joint Roughness (MPJR interface finite element) is herein proposed for solving the frictional contact problem between a rigid indenter of any complex shape and an…
This paper introduces a motion retargeting method that preserves self-contacts and prevents interpenetration. Self-contacts, such as when hands touch each other or the torso or the head, are important attributes of human body language and…
This paper proposes a novel discretization workflow for contact problems in which the discretization of the contact interface is decoupled from that of the bulk domain. This separation enables independently tailored meshes for the contact…
The adhesive contact between elastic solids with randomly rough, self affine fractal surfaces is studied by molecular dynamics (MD) simulations. The interfacial binding energy obtained from the simulations of nominally flat and curved…
We introduce a PDE-based node-to-element contact formulation as an alternative to classical, purely geometrical formulations. It is challenging to devise solutions to nonsmooth contact problem with continuous gap using finite element…
Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…
This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…
We developed a computational framework for simulating thin fluid flow in narrow interfaces between contacting solids, which is relevant for a range of engineering, biological and geophysical applications. The treatment of this problem…
This paper presents a novel approach to numerically describe the interactions between rigid bodies, with a special focus on robotic grasping. Some of the more common approaches used to address such issues rely on satisfaction of a set of…