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In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…
We provide an ice friction model for vehicle dynamics of a two-man bobsled which can be used for driver evaluation and in a driver-in-the-loop simulator. Longitudinal friction is modeled by combining experimental results with finite element…
Active control of friction by ultrasonic vibration is a well-known effect with numerous technical applications ranging from press forming to micromechanical actuators. Reduction of friction is observed with vibration applied in any of the…
This article introduces a novel construction of the two-dimensional fractional Brownian motion (2D fBm) with dependent components. Unlike similar models discussed in the literature, our approach uniquely accommodates the full range of model…
A homogeneous elastic solid, bounded by a flat surface in its unstressed configuration, undergoes a finite strain when in frictionless contact against a rigid and rectilinear constraint, ending with a rounded or sharp corner, in a…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The formulation incorporates a new corotational material model with positive semi-definite Hessian, which allows us to extend…
Lubricated sliding contact between soft solids is an interesting topic in biomechanics and for the design of small-scale engineering devices. As a model of this mechanical set-up, two elastic nonlinear solids are considered jointed through…
We present a newly developed approach for the calculation of interfacial stiffness and contact area evolution between two rough bodies exhibiting self affine surface structures. Using spline assisted discretization to define localised…
We present a minimal quasistatic 1D model describing the kinematics of the transition from static friction to stick-slip motion of a linear elastic block on a rigid plane. We show how the kinematics of both the precursors to frictional…
The friction force observed at macroscale is the result of interactions at various lower length scales that are difficult to model in a combined manner. For this reason, simplified approaches are required, depending on the specific aspect…
Amontons' law postulates a monotonic relationship between frictional force and the normal load applied to a sliding contact. This empirical rule, however, fails in systems where internal degrees of freedom - such as structural or electronic…
Recent advancements have demonstrated that fully Eulerian methods can effectively model frictionless contact between deformable solids. Unlike traditional Lagrangian approaches, which require contact detection and resolution algorithms, the…
In this article, we derive a model for a shell that is frictionally coupled to an elastic foundation. We use Kikuchi and Oden's model for Coulomb's law of static friction to derive a displacement-based static-friction law for a shell on an…
An elastic rod model for semi-flexible polymers is presented. Theory for a continuum rod is reviewed, and it is shown that a popular discretised model used in numerical simulations gives the correct continuum limit. Correlation functions…
In this work, we analyze a non-clamped dynamic viscoelastic contact problem involving thermal effect. The friction law is described by a non-monotone relation between the tangential stress and the tangential velocity. This leads to a system…
This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that…
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…
We generalize the Persson contact mechanics and rubber friction theory to the case where both surfaces have surface roughness. The solids can be rigid, elastic or viscoelastic, and can be homogeneous or layered. We calculate the contact…
Contact mechanics-based models for the friction of nominally flat rough surfaces have not been able to adequately capture certain key experimentally observed phenomenona, such as the transition from a static friction peak to a lower level…