Effective modeling and control of multibody systems interacting with their environment through frictional contact remains a challenging problem. In this paper, we address the planar version of this problem by developing a general method to compute the instantaneous dynamic solution for planar rigid bodies interacting with their environment through Coulomb frictional contacts. The resulting anal...

We present a robust and efficient method for simulating Lagrangian solid-fluid coupling based on new operator splitting strategy. use variational formulations to approximate fluid properties interactions, introduce unified two-way formulation SPH fluids FEM solids using interior point barrier-based frictional contact. split the resulting optimization problem into phase solid-coupling novel time...

Using spheropolygon-based simulations and contact slope analysis, we investigate the effects of surface topography and atomic scale friction on the macroscopically observed friction between rigid blocks with fractal surface structures. From our mathematical derivation, the angle of macroscopic friction is the result of the sum of the angle of atomic friction and the slope angle between the cont...

The rolling/sliding in the presence of friction of a vibrating elastic body on an elastic substrate is studied. It is shown that the longitudinal components of the velocity of the center of mass of the body and of the resultant frictional force are not affected by the vibration process. However, the normal vibration of the body influences the slip velocities and the distribution of frictional f...

Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our extends state-of-the-art based on Projective Dynamics (PD) with dry frictional contact. We draw inspiration from previous to propose fast novel method for d...

The field of tribology defined in Webster’s Dictionary as “a science that deals with the design, friction, wear and lubrication of interacting surfaces in relative motion” has a long and important history in science and technology[1]. The ancient Egyptians, for example, used water to lubricate the path of sleds employed to transport extremely heavy objects. The first scientific studies of frict...

*Correspondence: [email protected] 1Laboratoire de Physique, Université de Lyon, Ecole Normale Supérieure de Lyon, CNRS, 46 Allée d’Italie, 69007 Lyon, France Abstract We report on an experimental device that makes it possible to assess the frictional properties of the contact between a slider and a horizontal surface, and to study the resulting trajectories of the slider whe...