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An elastic layer slides on a rigid flat governed by Coulomb's friction law.We demonstrate that if the coefficient of friction is high enough, the slidinglocalizes within stick-slip pulses, which transform into opening wavespropagating at intersonic speed in the direction of sliding or, for highPoisson's ratios, at supersonic speed in the opposite direction. This slidingmode, characterized by marginal frictional dissipation, and similar to carpetfold propagation, may result in inversion of the frictional force direction; atlonger time intervals the system demonstrates stick-slip behavior. Themechanism is described in detail and a parametric study is presented.

Sliding without slipping under Coulomb friction: opening waves and inversion of frictional force