The modes of attachments, detachments and relaxations of molecules of rubbers and gels on solid surfaces are keys to understanding their frictional properties. An early stochastic model of polymer relaxations on surfaces was given by Schallamach, which has now evolved in various ways. A review of these developments is presented along with the experimental data that elucidate the kinetic friction of smooth rubber against smooth surfaces. These soft rubbers exhibit various types of instabilities while sliding on surfaces. A few examples of these instabilities are provided.
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