Concept

Force conservative

Publications associées (126)

Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Frédéric Freundler

Jamming of granular media has been shown to possess the property of stiffness variation, transitioning from a soft to a quasi-solid state depending on the packing density of the granules. Recently, a gradual stiffness change for bending has been reported b ...

IEEE COMPUTER SOC2018

Optical Force Control Using Phase-Gradient Metasurfaces

Olivier Martin, Karim Achouri, Hsiang-Chu Wang

We propose to control the motion of nanoparticles using phase-gradient metasurfaces. The latter are used to generate surface waves, which put the particles into motion, when illuminated by a normally incident plane wave. We present an initial study of the ...

IEEE2018

Automatic extraction of constraints in manipulation tasks for autonomy and interaction

Ana-Lucia Ureche

Tasks routinely executed by humans involve sequences of actions performed with high dexterity and coordination. Fully specifying these actions such that a robot could replicate the task is often difficult. Furthermore the uncertainties introduced by the us ...

EPFL2018

Introduction to discrete modelling : Modelling slithering locomotion

Meriton Beqiraj

The study of animal locomotion is vast since animals have various shapes and modes of locomotion. It finds multiple applications especially in robotics. In this report, the focus will be put on snake locomotion. However snakes still have various techniques ...

2018

Mechanism of Shiga Toxin Clustering on Membranes

Julian Charles Shillcock

The bacterial Shiga toxin interacts with its cellular receptor, the glycosphingolipid globotriaosylceramide (Gb3 or CD77), as a first step to entering target cells. Previous studies have shown that toxin molecules cluster on the plasma membrane, despite th ...

American Chemical Society2017

Modelling of the Cyclic Response of an Unreinforced Masonry Wall through a Force Based Beam Element

Katrin Beyer, Francesco Vanin, João Saraiva Esteves Pacheco de Almeida

The seismic assessment of existing masonry buildings is based on the prediction of their nonlinear response under lateral loading. This requires a reliable estimation of the force and displacement demand. For this purpose, modelling strategies using struct ...

2017

Friction law and hysteresis in granular materials

Matthieu Wyart, Eric DeGiuli

The macroscopic friction of particulate materials often weakens as the flow rate is increased, leading to potentially disastrous intermittent phenomena including earthquakes and landslides. We theoretically and numerically study this phenomenon in simple g ...

National Academy of Sciences2017

2D meso-scale modeling of masonry elements using cohesive elements

Jean-François Molinari, Katrin Beyer, Nicolas Richart, Shenghan Zhang, Seyedeh Mohadeseh Taheri Mousavi

Many stone masonry structures that were constructed in the past centuries are now counted towards the cultural heritage. The low strength and brittle behavior make these heterogeneous structures very vulnerable to various natural or man-made disasters such ...

2016

Functional Soft Robotic Actuators Based on Dielectric Elastomers

Jun Shintake

Dielectric elastomer actuators (DEAs) are a promising soft actuator technology for robotics. Adding robotic functionalities--folding, variable stiffness, and adhesion--into their actuator design is a novel method to create functionalized robots with simpli ...

EPFL2016

Composite model for predicting the punching resistance of R-UHPFRC-RC composite slabs

Eugen Brühwiler, Maléna Bastien Masse

Adding a thin layer of Ultra-High Performance Fiber Reinforced cement-based Composite (UHPFRC), with or without steel rebars, over a Reinforced Concrete (RC) slab is an efficient reinforcement method for existing structures. The thin layer of UHPFRC serves ...

Elsevier2016

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