arXiv subjects

Baudouin Saintyves

Publications and source records attributed to Baudouin Saintyves.

7 recordsLinked to original sources

arXiv2023

A self-organizing robotic aggregate using solid and liquid-like collective states

Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a modular system that blurs the distinction between soft, modular, and swarm robotics. The system consists of gear-like units that each contain a single actuator such that units can self-assemble into larger, granular aggregates using magnetic coupling. These aggregates can reconfigure dynamically and also split up into subsystems that might later recombine. Aggregates can self-organize into collective states with solid- and liquid-like properties, thus displaying widely differing compliances. These states can be perturbed locally via actuators or externally via mechanical feedback from the environment to produce adaptive shape shifting in a decentralized manner. This in turn can generate locomotion strategies adapted to different conditions. Aggregates can move over obstacles without using external sensors or coordinate to maintain a steady gait over different surfaces without electronic communication among units. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.

cs.RO↗

arXiv2019

Rotation of a submerged finite cylinder moving down a soft incline

A submerged finite cylinder moving under its own weight along a soft incline lifts off and slides at a steady velocity while also spinning. Here, we experimentally quantify the steady spinning of the cylinder and show theoretically that it is due to a combination of an elastohydrodynamic torque generated by flow in the variable gap, and the viscous friction on the edges of the finite-length cylinder. The relative influence of the latter depends on the aspect ratio of the cylinder as well as the deformability of the substrate, which we express in term of a single scaled compliance parameter. By varying this compliance parameter, we show that our experimental results are consistent with a transition from an edge-effect dominated regime for short cylinders to a gap-dominated elastohydrodynamic regime when the cylinder is very long.

cond-mat.soft↗

arXiv2017

Rotation of an immersed cylinder sliding near a thin elastic coating

It is known that an object translating parallel to a soft wall in a viscous fluid produces hydro- dynamic stresses that deform the wall, which, in turn, results in a lift force on the object. Recent experiments with cylinders sliding under gravity near a soft incline, which confirmed theoretical arguments for the lift force, also reported an unexplained steady-state rotation of the cylinders [Saintyves et al. PNAS 113(21), 2016]. Motivated by these observations, we show, in the lubrication limit, that an infinite cylinder that translates in a viscous fluid parallel to a soft wall at constant speed and separation distance must also rotate in order to remain free of torque. Using the Lorentz reciprocal theorem, we show analytically that for small deformations of the elastic layer, the angular velocity of the cylinder scales with the cube of the sliding speed. These predictions are confirmed numerically. We then apply the theory to the gravity-driven motion of a cylinder near a soft incline and find qualitative agreement with the experimental observations, namely that a softer elastic layer results in a greater angular speed of the cylinder.

physics.flu-dyn↗

arXiv2016

Self-sustained lift and low friction via soft lubrication

Relative motion between soft wet solids arises in a number of applications in natural and artificial settings, and invariably couples elastic deformation and fluid flow. We explore this in a minimal setting by considering a fluid-immersed negatively-buoyant cylinder moving along a soft inclined wall. Our experiments show that there is an emergent robust steady-state sliding regime of the cylinder with an effective friction that is significantly reduced relative to that of rigid fluid-lubricated contacts. A simple scaling approach that couples the cylinder-induced flow to substrate deformation allows us to explain the emergence of an elastohydrodynamic lift that underlies the self-sustained lubricated motion of the cylinder, consistent with recent theoretical predictions. Our results suggest an explanation for a range of effects such as reduced wear in animal joints and long-runout landslides, and can be couched as a design principle for low-friction interfaces.

cond-mat.soft↗

arXiv2015

Rate-dependent elastic hysteresis during the peeling of Pressure Sensitive Adhesives

The modelling of the adherence energy during peeling of Pressure Sensitive Adhesives (PSA) has received much attention since the 1950's, uncovering several factors that aim at explaining their high adherence on most substrates, such as the softness and strong viscoelastic behaviour of the adhesive, the low thickness of the adhesive layer and its confinement by a rigid backing. The more recent investigation of adhesives by probe-tack methods also revealed the importance of cavitation and stringing mechanisms during debonding, underlining the influence of large deformations and of the related non-linear response of the material, which also intervenes during peeling. Although a global modelling of the complex coupling of all these ingredients remains a formidable issue, we report here some key experiments and modelling arguments that should constitute an important step forward. We first measure a non-trivial dependence of the adherence energy on the loading geometry, namely through the influence of the peeling angle, which is found to be separable from the peeling velocity dependence. This is the first time to our knowledge that such adherence energy dependence on the peeling angle is systematically investigated and unambiguously demonstrated. Secondly, we reveal an independent strong influence of the large strain rheology of the adhesives on the adherence energy. We complete both measurements with a microscopic investigation of the debonding region. We discuss existing modellings in light of these measurements and of recent soft material mechanics arguments, to show that the adherence energy during peeling of PSA should not be associated to the propagation of an interfacial stress singularity. The relevant deformation mechanisms are actually located over the whole adhesive thickness, and the adherence energy during peeling of PSA should rather be associated to the energy loss by viscous friction and by rate-dependent elastic hysteresis.

cond-mat.soft↗

arXiv2013

Bulk elastic fingering instability in Hele-Shaw cells

We demonstrate experimentally the existence of a purely elastic fingering instability which arises when air penetrates into an elastomer confined in a Hele-Shaw cell. Fingers appear sequentially and propagate within the bulk of the material as soon as a critical strain, independent of the elastic modulus, is exceeded. Their width depends non-linearly on the distance between the confining glass plates. A key element in the driving force of the instability is the adhesion of layers of gels to the plates, which results in a considerable expense of elastic energy during the growth of the air bubble.

cond-mat.soft↗

arXiv2013

Digital instability of a confined elastic meniscus

Thin soft elastic layers serving as joints between relatively rigid bodies may function as sealants, thermal, electrical, or mechanical insulators, bearings, or adhesives. When such a joint is stressed, even though perfect adhesion is maintained, the exposed free meniscus in the thin elastic layer becomes unstable, leading to the formation of spatially periodic digits of air that invade the elastic layer, reminiscent of viscous fingering in a thin fluid layer. How- ever, the elastic instability is reversible and rate-independent, dis- appearing when the joint is unstressed. We use theory, experiments, and numerical simulations to show that the transition to the digital state is sudden (first-order), the wavelength and amplitude of the fingers are proportional to the thickness of the elastic layer, and the required separation to trigger the instability is inversely proportional to the in-plane dimension of the layer. Our study reveals the energetic origin of this instability and has implications for the strength of polymeric adhesives; it also suggests a method for patterning thin films reversibly with any arrangement of localized fingers in a digital elastic memory, which we confirm experimentally.

cond-mat.soft↗