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Intermittent motion, called stick--slip, is a friction instability thatcommonly occurs during relative sliding of two elastic solids. In adhesivepolymer contacts, where elasticity and interface adhesion are strongly coupled,stick--slip results from the propagation of slow detachment waves at theinterface. Using \emph{in situ} imaging experiments at an adhesive contact, weshow the occurrence of two distinct detachment waves moving parallel(Schallamach wave) and anti-parallel (separation wave) to the applied remotesliding. Both waves cause slip in the same direction and travel at speeds muchlesser than any elastic wave speed. We use an elastodynamic framework todescribe the propagation of these slow detachment waves at an elastic-rigidinterface and obtain governing integral equations in the low wave speed limit.These integral equations are solved in closed form when the elastic solid isincompressible. Two solution branches emerge, corresponding to opposite movingdetachment waves, just as seen in the experiments. A numerical scheme is usedto obtain interface stresses and velocities for the incompressible case forarbitrary Poisson ratio. Based on these results, we explicitly demonstrate acorrespondence between propagating slow detachment waves and a staticbi-material interface crack. Based on this, and coupled with a recentlyproposed fracture analogy for dynamic friction, we develop a phase diagramshowing domains of possible occurrence of stick--slip via detachment wavesvis-\'a-vis steady interface sliding.

Opposite moving detachment waves mediate stick-slip friction at soft interfaces