Related papers: Theory of a triangular micro-robot
The behavior of the collective rotor in wobbling motion is investigated within the particle-rotor model for the nucleus $^{135}$Pr by transforming the wave functions from the $K$-representation to the $R$-representation. After reproducing…
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. The controlled equations of motion are solved numerically using a predictor-corrector…
The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in…
In a granular gas of rough particles the spin of a grain is correlated with its linear velocity. We develop an analytical theory to account for these correlations and compare its predictions to numerical simulations, using Direct Simulation…
The criticality of self-assembled rigid rods on triangular lattices is investigated using Monte Carlo simulation. We find a continuous transition between an ordered phase, where the rods are oriented along one of the three (equivalent)…
We study a quasi-two-dimensional monolayer of granular rods fluidized by a spatially and temporally homogeneous upflow of air. By tracking the position and orientation of the particles, we characterize the dynamics of the system with…
We study numerically the behavior of a single quantized vortex in a rotating cylinder. We study in particular the spiraling motion of a vortex in a cylinder that is parallel to the rotation axis. We determine the asymptotic form of the…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…
A model of an autonomous three-sphere microswimmer is proposed by implementing a coupling effect between the two natural lengths of an elastic microswimmer. Such a coupling mechanism is motivated by the previous models for synchronization…
The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
... This paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic [8] [9] approach for steering and speed control [37], a FL approach for ultrasound…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
Drifting is an advanced driving technique where the wheeled robot's tire-ground interaction breaks the common non-holonomic pure rolling constraint. This allows high-maneuverability tasks like quick cornering, and steady-state drifting…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
We derive the asymptotic mass profile near the collapse center of an initial spherical density perturbation, $\delta \propto M^{-\epsilon}$, of collision-less particles with non-radial motions. We show that angular momenta introduced at the…
This article illustrates the role of friction on the motion of a rolling sphere on pedagogical example. We use a parabolic support rotating around it axis to study the static equilibrium positions of a single sphere. Due to the particular…
Self-consistent convective dynamo simulations in wedge-shaped spherical shells are presented. Differential rotation is generated by the interaction of convection with rotation. Equatorward acceleration and dynamo action are obtained only…