Related papers: The rigid body dynamics: classical and algebro-geo…
We derive a mathematical model for the motion of several insulating rigid bodies through an electrically conducting fluid. Starting from a universal model describing this phenomenon in generality, we elaborate (simplifying) physical…
We propose three iterative methods for solving the Moser-Veselov equation, which arises in the discretization of the Euler-Arnold differential equations governing the motion of a generalized rigid body. We start by formulating the problem…
This work originates from part of a final year undergraduate research project on the Eisenhart lift for Hamiltonian systems. The Eisenhart lift is a procedure to describe trajectories of a classical natural Hamiltonian system as geodesics…
We consider the motion of several rigid bodies immersed in a two-dimensional incompress-ible perfect fluid, the whole system being bounded by an external impermeable fixed boundary. The fluid motion is described by the incompressible Euler…
We consider the motion of a two-dimensional body of arbitrary shape in a planar irrotational, incompressible fluid with a given amount of circulation around the body. We derive the equations of motion for this system by performing…
In geometric algebra, the rotation of a vector is described using rotors. Rotors are phasors where the imaginary number has been replaced by a oriented plane element of unit area called a unit bivector. The algebra in three dimensional…
The Clebsch system is one of the few classical examples of rigid bodies whose equations of motion are known to be integrable in the sense of Liouville. The explicit solution of its equations of motion, however, is particularly hard, and it…
The elliptic restricted three body problem has been well studied. However, the previous formulations of the problem have used a rotating coordinate system to keep the positions of the primary and secondary on the x-axis. This requires the…
We consider the Regge-Teitelboim model for a relativistic extended object embedded in a fixed background Minkowski spacetime, in which the dynamics is determined by an action proportional to the integral of the scalar curvature of the…
We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We…
Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
In this paper we study the dynamics of the constrained $n$--dimensional rigid body (the Suslov problem). We give a review of known integrable cases in three dimensions and present their higher dimensional generalizations.
In this paper we revisit the classification of the gauge transformations in the Euler top system using the generalized classical Hamiltonian dynamics of Nambu. In this framework the Euler equations of motion are bi-Hamiltonian and $SL(2,…
State-of-the-art text-to-motion generation models rely on the kinematic-aware, local-relative motion representation popularized by HumanML3D, which encodes motion relative to the pelvis and to the previous frame with built-in redundancy.…
A path-integral quantization method is proposed for dynamical systems whose classical equations of motion do \textit{not} necessarily follow from the action principle. The key new notion behind this quantization scheme is the Lagrange…
In this paper, the dynamic modeling of a seven linked humanoid robot, is accurately developed, in the three dimensional space using the Newton-Euler formalism. The aim of this study is to provide a clear and a systematic approach so that…
In 1890 W. Hess found the new special case of integrability of the Euler - Poisson equations of motion of a heavy rigid body with a fixed point. In 1963 L.N. Sretensky proved that the special case of integrability, similar to the Hess case,…
We consider the motion of rigid bodies in a potential fluid subject to certain nonholonomic constraints and show that it is described by Euler--Poincar\'e--Suslov equations. In the 2-dimensional case, when the constraint is realized by a…
We give a short summary of our recent works on the classical integrable structure of two-dimensional non-linear sigma models defined on squashed three-dimensional spheres. There are two descriptions to describe the classical dynamics, 1)…
The stability for all generic equilibria of the Lie-Poisson dynamics of the $\mathfrak{so}(4)$ rigid body dynamics is completely determined. It is shown that for the generalized rigid body certain Cartan subalgebras (called of coordinate…