Abstract:
We consider the planar problem of the dynamics of a body moving along a horizontal with
two legs in contact with a rough horizontal plane. Possible types of movements of the body are
discussed depending on the acceleration of the support: relative equilibrium, sliding on two legs,
lifting off one leg without sliding on the other, lifting off one leg while sliding on the other. Based
on the results obtained, it is shown that, when sliding on two legs, the friction force is generally
anisotropic. This makes it possible to transport the body due to simple vibrations of the plane,
for example, harmonic vibrations.
Keywords:Coulomb friction, a body on a moving support, unilateral contact, vibrotransportation
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