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This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient…
A method for the discrete particle simulation of of almost rigid, sharply edged frictional particles, such as railway ballast is proposed. In difference to Molecular Dynamics algorithms, the method does not require knowledge about the…
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of…
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…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
We analyze the capabilities of various recently developed techniques, namely Resistive Force Theory (RFT) and continuum plasticity implemented with the Material Point Method (MPM), in capturing dynamics of wheel--dry granular media…
Like in liquids, objects moving in granular materials experience a drag force. We investigate here whether and how the object acceleration affect this drag force. The study is based on simulations of a canonical drag test, which involves…
An exact transformation method is introduced that reduces the governing equations of a continuum structure coupled to strong nonlinearities to a low dimensional equation with memory. The method is general and well suited to problems with…
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach builds upon the Planar Inverted Pendulum with Flywheel (PIPF)…
The kinetics of the deposition of colloidal particles onto a solid surface is analytically studied. We take into account both the diffusion of particles from the bulk as well as the geometrical aspects of the layer of adsorbed particles. We…
Inspired by recent experiments of cells accumulating on anisotropic substrates, we study a two-dimensional, compressible, isotropic, active fluid in the presence of anisotropic friction. We find that regions of anisotropic friction that are…
Equations of motion are derived for (visco)elastic, self-gravitating, and variably-rotating planets. The equations are written using a decomposition of the elastic motion that separates the body's elastic deformation from its net…
We consider some basic principles of fluid-induced lubrication at soft interfaces. In particular, we show how the presence of a soft substrate leads to an increase in the physical separation between surfaces sliding past each other. By…
A collision of viscoelastic bodies is analysed within a mathematically rigorous approach. We develop a perturbation scheme to solve continuum mechanics equation, which deals simultaneously with strain and strain rate in the bulk of the…
Realistic fluid-solid interaction potentials are essential in description of confined fluids especially in the case of geometric heterogeneous surfaces. Correlated random field is considered as a model of random surface with high geometric…
The connection between friction and jamming in granular media, molecular glasses, and complex fluids is explored. The paper first reviews the way friction is measured, the types of results that are observed, and what is known about the…
Gravity-driven flows of granular matter are involved in a wide variety of situations, ranging from industrial processes to geophysical phenomena, such as avalanches or landslides. These flows are characterized by the coexistence of solid…
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
In this paper we study crawling locomotion based on directional frictional interactions, namely, frictional forces that are sensitive to the sign of the sliding velocity. Surface interactions of this type are common in biology, where they…