Related papers: Theory of a triangular micro-robot
Robotic systems are frequently deployed in missions that are dull, dirty, and dangerous, where ensuring their safety is of paramount importance when designing stabilizing controllers to achieve their desired goals. This paper addresses the…
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing smarticle robots undergoing locally repulsive collisions. Borrowing terminology from Conway's simulated Game of Life, these…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
A trimer is an object composed of three centimetrical stainless steel beads equally distant and is predestined to show richer behaviours than the bouncing ball or the bouncing dimer. The rigid trimer has been placed on a plate of a…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
In a previous work \cite{mbeleka}, we have modelled the rotation curves (RC) of spiral galaxies by including in the equation of motion dynamical terms from an external real self-interacting scalar field, $\phi$, minimally coupled to gravity…
We report a theoretical study of the optical centrifuge acceleration of an asymmetric top molecule interacting with an electric static field by solving the time-dependent Schr\"odinger equation in the rigid rotor approximation. A detailed…
Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a…
This paper designs a new spherical robot structure capable of supporting high-speed motion at up to 10 m/s. Building upon a single-pendulum-driven spherical robot, the design incorporates a momentum wheel with an axis aligned with the…
We investigate the self-locomotion of an elongated microswimmer by virtue of the unidirectional tangential surface treadmilling. We show that the propulsion could be almost frictionless, as the microswimmer is propelled forward with the…
We theoretically study the self-propulsion of a thin (slender) colloid driven by asymmetric chemical reactions on its surface at vanishing Reynolds number. Using the method of matched asymptotic expansions, we obtain the colloid…
The paper concerns lattice triangulations, that is, triangulations of the integer points in a polygon in $\mathbb{R}^2$ whose vertices are also integer points. Lattice triangulations have been studied extensively both as geometric objects…
We propose a simple mathematical model that describes the time evolution of a self-propelled object on a liquid surface using such variables as the object location, the surface concentration of active molecules and the hydrodynamic surface…
Suppose that the initial triangle formed by the three moving masses of the three-body problem is similar to the triangle formed at some later time. We derive a simple integral formula for the overall rotation relating the two triangles. The…
This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner channel and was developed with the ability to perform…
We consider a mechanical system consisting of an infinite rod (a straight line) and a ball (a massless point) on the plane. The rod rotates uniformly around one of its points. The ball is reflected elastically when colliding with the rod…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional…
The statistics of rotational motion of small, inertialess triaxial ellipsoids are computed along Lagrangian trajectories extracted from direct numerical simulations of homogeneous isotropic turbulence. The particle angular velocity and its…