scholarly journals Slipping, sliding and stability: locomotor strategies for overcoming low-friction surfaces

2011 ◽  
Vol 214 (8) ◽  
pp. 1369-1378 ◽  
Author(s):  
A. J. Clark ◽  
T. E. Higham
Keyword(s):  
Low Friction ◽  
Friction Surfaces

scholarly journals Stabilization of Vehicle Dynamics by Tire Digital Control—Tire Disturbance Control Algorithm for an Electric Motor Drive System

2019 ◽  
Vol 10 (2) ◽  
pp. 25
Author(s):  
Keizo Akutagawa ◽  
Yasumichi Wakao
Keyword(s):  
Hysteresis Loop ◽  
Digital Control ◽  
Cooperative Control ◽  
External Noise ◽  
Vehicle Body ◽  
Low Friction ◽  
Micro Vibration ◽  
Friction Surfaces ◽  
Electric Motor Drive ◽  
Motor Drive System

We propose an algorithm with disturbance control for tires on electric vehicles (EVs) so as to improve the steering stability of the vehicle. The effect was validated on EVs equipped with twin independent electric motors on a skid pad. The algorithm with the disturbance controller can remove the external noise generated on tires in order to suppress the abrupt slip and micro vibration generated between the tire and road surface, especially on low friction surfaces at the critical speed of the vehicle. The effective frequency corresponded to tire scale length. The effect was verified by the fact that the hysteresis loop with control on the chart of steer angle and yaw rate showed a smaller loop than those without control. The hysteresis loop with control also appeared at the oversteering area, which can be interpreted as evidence that the algorithm can make the vehicle more stable and gain faster speed on the skid pad. It is concluded that the tire digital control works well without any information from sensors on the vehicle body and without any cooperative control between tires.

Influence of the extracellular matrix on the frictional properties of tissue-engineered cartilage

2007 ◽  
Vol 35 (4) ◽  
pp. 677-679 ◽  
Author(s):  
M. Plainfossé ◽  
P.V. Hatton ◽  
A. Crawford ◽  
Z.M. Jin ◽  
J. Fisher
Keyword(s):  
Extracellular Matrix ◽  
Articular Cartilage ◽  
Tribological Properties ◽  
Low Friction ◽  
Frictional Properties ◽  
Native Tissue ◽  
Composition Structure ◽  
Friction Surfaces ◽  
Engineered Cartilage ◽  
The Relationship

Low-friction surfaces are critical for efficient joint articulation. The tribological properties of articular cartilage have been studied extensively in native tissue and joints. Despite their importance, very few studies have examined the frictional properties of tissue-engineered cartilage. We have therefore reviewed the relationship between composition, structure and friction in tissue-engineered cartilage.

Pony II Robot: Inertially Actuated Baton With Double-Action Pendulums

2014 ◽  
Author(s):  
Joe Zoghzoghy ◽  
Yilrdirim Hurmuzlu
Keyword(s):  
Numerical Simulations ◽  
Inertial Force ◽  
Inertial Forces ◽  
Low Friction ◽  
Experimental Prototype ◽  
Angular Velocities ◽  
Inertial Actuation ◽  
Friction Surfaces

In this paper, we present a robotic locomotor with inertia-based actuation. The goal of this system is to generate various gait modes of a baton, consisting of two masses connected with a massless rod. First, a model for a baton prototype called Pony II is presented. This model incorporates the double-action inertial actuation generated by two rotating pendulums, spinning at constant angular velocities in opposite directions. This system allows regulation of the inertial forces generated by the spinning masses. In addition, it provides control over the orientation of the resultant inertial force. Numerical simulations of four stable gaits are presented: dragging, tapping, galloping, and hopping. We also developed an experimental prototype, called Pony II, consisting of the double-action actuators. The robot successfully generates all the simulated gaits. In addition, we show that the robot is capable of generating progression on low friction surfaces.

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