Figure 1

(a) FFM backward image ($500\times 350{\mathrm{nm}}^2$) of graphite surface along with FFT images corresponding to the domains labeled ${\Theta }_1$, ${\Theta }_2$, and ${\Theta }_3$. Green lines partly covering the domains indicate the direction of the stripes. The encircled bright spots in the FFT images are generated by the spatial periodicity of the stripes. (b) Scan profile along the line shown in (a).Reuse & Permissions

Figure 2

(a) FFM forward image ($40\times 20{\mathrm{nm}}^2$) showing the stripe-pattern structure in an individual domain. $\theta$ indicates the direction of the stripes with respect to the horizontal fast-scan direction. $P$ is the periodicity of stripes as can be evaluated by FFT. $D$ shows the scan distance between two consecutive slip events. Zero-centered forward (b) and backward (c) scan profiles, along the horizontal line shown in (a). The vertical double-ended arrow indicates a slip height measured with respect to zero.Reuse & Permissions

Figure 3

(a) and (b) Forward scan profiles extracted from different domains. (c) Probability for a slip to occur at a certain torsion of the cantilever (slip height) computed from 1010 slip events and for a domain of $\mid \theta \mid =3°$. The black curve is a smooth line through the data. (d) Slip height corresponding to the maximum probability compiled from domains of different $\theta$ (scan velocity: $0.1\mu \mathrm{m}/\mathrm{s}$, load: 0.4 nN).Reuse & Permissions

Figure 4

(a) Schematic illustrating the model used to explain a stick-slip process. Red line indicates tip positions where slips are expected. For the sake of clarity, a slip is depicted at the end of the red line only, i.e., at $T=0\mathrm{K}$. Right: gradual reduction of potential barrier during the stick phase. (b) Mean lateral tip position with respect to the scan axis obtained by analyzing the periodicity of the stripes in domains imaged with the same tip and under the same scanning conditions. Inset: periodicity of stripes vs $\theta$. When not visible, error bars are smaller than the size of the data points. (c) Sketch showing three lattice-induced friction regimes. Green areas: angular intervals spanned by $\mid \theta \mid$ angles, as suggested by data shown in (b). Orange areas: corresponding intervals spanned by the stiff direction (orange arrow). Gray arrows indicate the second axis of the same symmetry present in the quadrant.Reuse & Permissions