Related papers: Physical Simulation of Inarticulate Robots
Some recent results on the rotational dynamics of polymers are reviewed and extended. We focus here on the relaxation of a polymer, either flexible or semiflexible, initially wrapped around a rigid rod. We also study the steady polymer…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
This paper focuses on rotational phenomena of rigid body kinematics. It discusses them in a group-theoretic approach as completely as possible, using methods and notations as intuitive as possible. With a review of current literature, this…
Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…
This note being is devoted to the unraveling of the algebraic structure, which governs the quadratic nonhamiltonian interaction of two rotators described in the first part. It should be considered in the context of a general ideology of the…
We explore theoretically the complex dynamics and emergent behaviors of spinning spheres immersed in viscous fluid. The particles are coupled to each-other via the fluid in which they are suspended: each particle disturbs the surrounding…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
The invariant manifold approach is used to explore the dynamics of a nonlinear rotor, by determining the nonlinear normal modes, constructing a reduced order model and evaluating its performance in the case of response to an initial…
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
A single frictional elastic disk, supported against gravity by two others, rotates steadily when the supports are vibrated and the system is tilted with respect to gravity. Rotation is here studied using Molecular Dynamics Simulations, and…
The dynamical properties of a particle in a gravitational field colliding with a rigid wall moving with piecewise constant velocity are studied. The linear nature of the wall's motion permits further analytical investigation than is…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
We present a method to construct high-order polynomial approximate invariants (AI) for non-integrable Hamiltonian dynamical systems, and apply it to modern ring-based particle accelerators. Taking advantage of a special property of one-turn…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…
A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually…
Quantum robots and their interactions with environments of quantum systems are described and their study justified. A quantum robot is a mobile quantum system that includes a quantum computer and needed ancillary systems on board. Quantum…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…