B. N. J. Persson, R. Xu
Rubber friction is of major practical importance in applications such as tires, rubber seals, and footwear. This review article focuses on the theory and experimental studies of rubber friction on substrates with random roughness. We examine both steady sliding and accelerated motion, with particular attention to the origins of the breakloose friction force and the influence of pre-slip, elasticity, and flash temperature on friction dynamics. We further discuss rolling friction for cylinders and spheres, as well as sliding friction for triangular sliders on dry and lubricated rubber surfaces. Theoretical predictions are compared with experimental results obtained using different materials, geometries, and environmental conditions, highlighting the importance of accounting for multiscale roughness. Open challenges, such as the role of adhesion enhancement, energy dissipation due to crack opening, and the physical origin of the short-distance roughness cutoff, are discussed.