Related papers: The orbit rigidity matrix of a symmetric framework
We study the axisymmetric impact of a rigid sphere onto an elastic membrane theoretically and experimentally. We derive governing equations from first principles and impose natural kinematic and geometric constraints for the coupled motion…
This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of…
A significant range of geometric structures whose rigidity is explored for both practical and theoretical purposes are formed by modifying generically isostatic triangulated spheres. In the block and hole structures (P, p), some edges are…
A linearly constrained framework in $\mathbb{R}^d$ is a point configuration together with a system of constraints which fixes the distances between some pairs of points and additionally restricts some of the points to lie in given affine…
A subcomplex $\mathcal{X}$ of a cell complex $\mathcal{C}$ is called \emph{rigid} with respect to another cell complex $\mathcal{C}'$ if every injective simplicial map $\lambda:\mathcal{X} \rightarrow \mathcal{C}'$ has a unique extension to…
An orbit polytope is the convex hull of an orbit under a finite group $G \leq \operatorname{GL}(d,\mathbb{R})$. We develop a general theory of possible affine symmetry groups of orbit polytopes. For every group, we define an open and dense…
We define periodic frameworks as graphs on the torus, using the language of gain graphs. We present some fundamental definitions and results about the infinitesimal rigidity of graphs on a torus of fixed size and shape, and find necessary…
The rigidity matrix is a fundamental tool for studying the infinitesimal rigidity properties of Euclidean bar-joint frameworks. In this paper we generalize this tool and introduce a rigidity matrix for bar-joint frameworks in arbitrary…
In this paper, we introduce new concepts of weak rigidity matrix and infinitesimal weak rigidity for planar frameworks. The weak rigidity matrix is used to directly check if a framework is infinitesimally weakly rigid while previous work…
Motivated by the challenging formation stabilization problem for mobile robotic teams when no distance or relative displacement measurements are available and each robot can only measure some of those angles formed by rays towards its…
This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design…
A bar-joint framework $(G,p)$ in Euclidean $d$-space is rigid if the only edge-length-preserving continuous motions arise from isometries of $\mathbb{R}^d$. In the generic case, rigidity is determined by the generic $d$-dimensional rigidity…
Graph models, like other machine learning models, have implicit and explicit biases built-in, which often impact performance in nontrivial ways. The model's faithfulness is often measured by comparing the newly generated graph against the…
Rigidity is the property of a structure that does not flex. It is well studied in discrete geometry and mechanics, and has applications in material science, engineering and biological sciences. A bar-and-joint framework is a pair $(G,p)$ of…
A bar-joint framework $(G,p)$ is the combination of a graph $G$ and a map $p$ assigning positions, in some space, to the vertices of $G$. The framework is rigid if every edge-length-preserving continuous motion of the vertices arises from…
We quantize graphs (networks) which consist of a finite number of bonds and vertices. We show that the spectral statistics of fully connected graphs is well reproduced by random matrix theory. We also define a classical phase space for the…
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an internal shape space has provided deep insights into the…
The stability of the orbital motion of two long cylindrical magnets interacting exclusively with magnetic forces is described. To carry out analytical studies a model of magnetically interacting symmetric tops [1] is used. The model was…
A symmetry of a dynamical system is a map that transforms one trajectory to another trajectory. We introduce a new type of abstraction for hybrid automata based on symmetries. The abstraction combines different modes in a concrete automaton…
Let $G$ be a graph with $n$ vertices, and $d$ be a target dimension. In this paper we study the set of rank $n-d-1$ matrices that are equilibrium stress matrices for at least one (unspecified) $d$-dimensional framework of $G$ in general…