Pulling by Pushing, Slip With Infinite Friction, and Perfectly Rough Surfaces

Kevin M. Lynch, Matthew T. Mason

Research output: Contribution to journalArticlepeer-review

22 Scopus citations


When one rigid object (the pusher) pushes another (the slider) across a horizontal support plane, Coulomb's law of friction admits some surprising phenomena. First, it is possible to move the slider by moving the pusher away from the slider: pulling. Second, even with an infinite coefficient of friction, it is possible to obtain slip between the two objects as the pusher moves into the slider. This contradicts the common conception that infinite friction always prevents slip. The per fectly rough contact of classical mechanics is not realized by an infinite coefficient of friction. This article shows examples of the phenomena with both quasistatic and dynamic analy ses.

Original languageEnglish (US)
Pages (from-to)174-183
Number of pages10
JournalThe International Journal of Robotics Research
Issue number2
StatePublished - Apr 1995

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering
  • Artificial Intelligence
  • Applied Mathematics
  • Electrical and Electronic Engineering
  • Modeling and Simulation


Dive into the research topics of 'Pulling by Pushing, Slip With Infinite Friction, and Perfectly Rough Surfaces'. Together they form a unique fingerprint.

Cite this