Related papers: Soap-bubble Optimization of Gaits
We derive the one-dimensional optimal system for a system of three partial differential equations which describe the two-dimensional rotating ideal gas with polytropic parameter $\gamma >2.$ The Lie symmetries and the one-dimensional…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to…
The paper concerns the study and applications of a new class of optimal control problems governed by a perturbed sweeping process of the hysteresis type with control functions acting in both play-and-stop operator and additive…
In this paper, we propose a novel approach for controlling surface water waves and their interaction with floating bodies. We consider a floating target rigid body surrounded by a control region where we design three control strategies of…
We consider dynamic loading and unloading problems for heavy geometric objects. The challenge is to maintain balanced configurations at all times: minimize the maximal motion of the overall center of gravity. While this problem has been…
Optimizing the transient control of gas networks is a highly challenging task. The corresponding model incorporates the combinatorial complexity of determining the settings for the many active elements as well as the non-linear and…
Recent studies of out-of-time ordered thermal correlation functions (OTOC) in holographic systems and in solvable models such as the Sachdev-Ye-Kitaev (SYK) model have yielded new insights into manifestations of many-body chaos. So far the…
Soap bubbles can be easily generated by varies methods, while their formation process is complicated and still worth study. A model about the bubble formation process was proposed in Phys. Rev. Lett. 116, 077801 recently, and it was…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
A kind of fluid dynamic description for the collective movement of pedestrians is developed on the basis of a Boltzmann-like gaskinetic model. The differences between these pedestrian specific equations and those for ordinary fluids are…
We simulate gravity driven dynamics of partially wetting droplets moving along a fibre using the lattice Boltzmann method. For the so-called clamshell morphology, we find three possible dynamic regimes upon varying the droplet Bond number…
We consider a group of computation units trying to cooperatively solve a distributed optimization problem with shared linear equality and inequality constraints. Assuming that the computation units are communicating over a network whose…
Low-energy dynamics of many-body fracton excitations necessary to describe topological defects should be governed by a novel type of hydrodynamic theory. We use a Poisson bracket approach to systematically derive hydrodynamic equations from…
Damped-driven systems are ubiquitous in science, however the damping and driving mechanisms are often quite convoluted. This manuscript presents an experimental and theoretical investigation of a fluidic droplet on a vertically vibrating…
When expressed in Lagrangian variables, the equations of motion for compressible (barotropic) fluids have the structure of a classical Hamiltonian system in which the potential energy is given by the internal energy of the fluid. The…
We combine experiments and theoretical derivations to study the evolution of a stretched soap bubble and compare it with an open film to highlight the effect of volume conservation. We identify a critical length for both surfaces, beyond…
In this paper, we develop an interior-point method for solving a class of convex optimization problems with time-varying objective and constraint functions. Using log-barrier penalty functions, we propose a continuous-time dynamical system…
Nonequilibrium statistical models of point vortex systems are constructed using an optimal closure method, and these models are employed to approximate the relaxation toward equilibrium of systems governed by the two-dimensional Euler…
This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…