Publications associées à Géométrie de contact

Subharmonic parametric instability in nearly brimful circular cylinders: a weakly nonlinear analysis

François Gallaire, Alessandro Bongarzone, Francesco Viola

In labscale Faraday experiments, meniscus waves respond harmonically to small-amplitude forcing without threshold, hence potentially cloaking the instability onset of parametric waves. Their suppression can be achieved by imposing a contact line pinned at ...

CAMBRIDGE UNIV PRESS2022

Global Frobenius liftability I

Maciej Emilian Zdanowicz

We formulate a conjecture characterizing smooth projective varieties in positive characteristic whose Frobenius morphism can be lifted modulo p(2)-we expect that such varieties, after a finite stale cover, admit a toric fibration over an ordinary abelian v ...

EUROPEAN MATHEMATICAL SOC-EMS2021

Surface textures suppress viscoelastic braking on soft substrates

John Martin Kolinski, Martin Louis Francis Coux

A gravity-driven droplet will rapidly flow down an inclined substrate, resisted only by stresses inside the liquid. If the substrate is compliant, with an elastic modulus G < 100 kPa, the droplet will markedly slow as a consequence of viscoelastic braking. ...

2020

Adhesive wear and interaction of tangentially loaded micro-contacts

Jean-François Molinari, Son-Jonathan Pham-Ba, Tobias Brink

Current engineering wear models are often based on empirical parameters rather than built upon physical considerations. Here, we look for a physical description of adhesive wear at the microscale, at which the interaction between two surfaces comes down to ...

2020

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

Robotics: Science and Systems (RSS)2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

MIT PRESS2019

Fractal surfaces in adhesive wear processes.

Jean-François Molinari, Enrico Milanese, Ramin Aghababaei, Tobias Brink

Wear of materials plays a key role in the durability of manifactured objects and it has thus an economical importance in our society. In spite of the efforts, a unified picture of the underlying physics of the phenomenon is still far from being reached, be ...

2018

A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions

Aude Billard, Seyed Sina Mirrazavi Salehian

Many daily life tasks require precise control when making contact with surfaces. Ensuring a smooth transition from free motion to contact is crucial as incurring a large impact force may lead to unstable contact with the robot bouncing on the surface, i.e. ...

2018

Stable Transitions from Free-space to Contact: A Dynamical System Based Approach

Aude Billard, Seyed Sina Mirrazavi Salehian

In this work, we propose a dynamical system based strategy for establishing a stable contact with convex shaped surfaces during non-contact/contact scenarios. A contact is called stable if the impact occurs only once and the robot remains in contact with t ...

2018

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Géométrie de contact

Subharmonic parametric instability in nearly brimful circular cylinders: a weakly nonlinear analysis

Global Frobenius liftability I

Surface textures suppress viscoelastic braking on soft substrates

Adhesive wear and interaction of tangentially loaded micro-contacts

INTERNODES method for contact mechanics

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Fractal surfaces in adhesive wear processes.

A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions

Stable Transitions from Free-space to Contact: A Dynamical System Based Approach

Graph Chatbot

Chattez avec Graph Search

Global Frobenius liftability I

Subharmonic parametric instability in nearly brimful circular cylinders: a weakly nonlinear analysis

Fractal surfaces in adhesive wear processes.

Stable Transitions from Free-space to Contact: A Dynamical System Based Approach

Surface textures suppress viscoelastic braking on soft substrates

Adhesive wear and interaction of tangentially loaded micro-contacts

A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions

INTERNODES method for contact mechanics

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

A Dynamical System Approach to Motion and Force Generation in Contact Tasks