Controlled Locomotion of a Minimal Soft Structure by Stick-Slip Nonlinearity - Institut des sciences du mouvement Etienne-Jules Marey
Article Dans Une Revue Physical Review Letters Année : 2024

Controlled Locomotion of a Minimal Soft Structure by Stick-Slip Nonlinearity

Résumé

We present a locomotion mechanism that uses the stick-slip transition of a soft passive structure with an internal mechanical resonance. The structure is harmonically driven by a global vertical shaking and, because of its resonance dephasing and the threshold response of stick-slip transition, it can either move forward or backward. We establish a relation for the motion acceleration threshold that we experimentally validate. We identify a non-trivial regime close to the resonance with a velocity inversion for a constant excitation frequency and an increasing driving amplitude.

We finally show that we can achieve a controlled multi-modal motion by combining multiple internal resonances.

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Dates et versions

hal-04826519 , version 1 (09-12-2024)

Identifiants

Citer

Thomas Barois, A. Boucherie, L. Tadrist, H. Kellay. Controlled Locomotion of a Minimal Soft Structure by Stick-Slip Nonlinearity. Physical Review Letters, 2024, 133 (23), pp.238301. ⟨10.1103/PhysRevLett.133.238301⟩. ⟨hal-04826519⟩
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