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We introduce and solve in closed form a simple model of a macroscopic body propagating in a one-dimensional resistive medium at temperature T. The assumption of completely inelastic collisions between the body and the particles composing…
Granular intrusions, such as dynamic impact or wheel locomotion, are complex multiphase phenomena where the grains exhibit solid-like and fluid-like characteristics together with an ejected gas-like phase. Despite decades of modeling…
A new model for the numerical simulation of a rigid body moving in a viscous fluid flow using FEM is presented. One of the most interesting features of this approach is the small computational effort required to solve the motion of the…
The present document aims at developing the formalism needed in order to describe the two-dimensional motion of a vehicle with Mecanum wheels, including the effects of resistive friction. The description of recently-acquired experimental…
The paper is concerned with dynamics of multi-phase media consisting of a solid permeable material and a compressible Newtonian fluid. Governing macroscopic equations are derived starting from the space-averaged microscopic mass and…
Rolling of a small sphere on a solid support is governed by a non-linear friction that is akin to the Coulombic dry fiction. No motion occurs when the external field is weaker than the frictional resistance. However, with the intervention…
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 static as well as the dynamic behaviour of granular material are determined by dynamic {\it and} static friction. There are well known methods to include static friction in molecular dynamics simulations using scarcely understood…
We propose a simple continuum model to interpret the shearing motion of dense, dry and cohesion-less granular media. Compressibility, dilatancy and Coulomb-like friction are the three basic ingredients. The granular stress is split into a…
Characterizing forces on deformable objects intruding into sand and soil requires understanding the solid and fluid-like responses of such substrates and their effect on the state of the object. The most detailed studies of intrusion in dry…
We present a simple model for the friction of two solid bodies moving against each other. In a self consistent way we can obtain the dependence of the macroscopic friction force as a function of the driving velocity, the normal force and…
A general recipe is developed for the study of rigid body dynamics in terms of Poincar\'e surfaces of section. A section condition is chosen which captures every trajectory on a given energy surface. The possible topological types of the…
Legged robots are well-suited for broad exploration tasks in complex environments with yielding terrain. Understanding robotic foot-terrain interactions is critical for safe locomotion and walking efficiency for legged robots. This paper…
Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…
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…
This article describes an absolutely stable, first-order constraint solverfor multi-rigid body systems that calculates (predicts) constraint forces for typical bilateral and unilateral constraints, contact constraints with friction, and…
The complicated dynamics of the contact line of a moving droplet on a solid substrate often hamper the efficient modeling of microfluidic systems. In particular, the selection of the effective boundary conditions, specifying the contact…
We investigate a mechanism of the appearance of kinetic friction in granular materials. We consider a small number of intervening inelastic particles between two rough surfaces as one of the simplest dynamical models to study granular…
We determine the general form of the potential of the problem of motion of a rigid body about a fixed point, which allows the angular velocity to remain permanently in a principal plane of inertia of the body. Explicit solution of the…
The two-dimensional motion of an object on a moving rough horizontal plane is investigated. Two cases are studied: the plane having a translational acceleration, and a rotating plane. For the first case, the motions of a point particle and…