Related papers: A compact two-phase twisted string actuation syste…
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
We designed and built a three degrees-of-freedom (DOF) flapping wing robot, Flapperoo, to study the aerodynamic benefits of wing folding and twisting. Forces and moments of this physical model are measured in wind tunnel tests over a…
A model for string breaking on the lattice is formulated using strong coupling ideas. It gives an explicit picture of string breaking, in the presence of dynamical quarks, as a mixing process between a string state and a two-meson state. An…
The present paper is devoted to estimating the speed of convergence towards consensus for a general class of discrete-time multi-agent systems. In the systems considered here, both the topology of the interconnection graph and the weight of…
Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness.…
During animal development and homeostasis, the structure of tissues, including muscles, blood vessels and connective tissues adapts to mechanical strains in the extracellular matrix (ECM). These strains originate from the differential…
A twist between two systems offers the possibility to drastically change the underlying physical properties. To that end, we study the bandstructure of twisted moir\'e potentials in detail. At sets of commensurate twisting angles, the low…
Four-dimensional compactifications of string theory provide a controlled set of possible gauge representations accounting for BSM particles and dark sector components. In this review, constraints from perturbative Type II string…
We investigate the roughening transition in the pure $\mathbb{Z}_2$ lattice gauge theory in (2+1) dimensions. Using numerical simulations with matrix product states, we explore the static and dynamical properties of an electric flux string…
In this paper we present an influence of discontinuous coupling on the dynamics of multistable systems. Our model consists of two periodically forced oscillators that can interact via soft impacts. The controlling parameters are the…
Flexible-joint manipulators are frequently used for increased safety during human-robot collaboration and shared workspace tasks. However, joint flexibility significantly reduces the accuracy of motion, especially at high velocities and…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…
Wing articulation is critical for efficient flight of bird- and bat-sized animals. Inspired by the flight of $\textit{Cynopterus brachyotis}$, the lesser short-nosed fruit bat, we built a two-degree-of-freedom flapping wing platform with…
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…
In this paper, a new discrete-time approach to model the clutches engagement/disengagement in a two-speed powershift is proposed. The core idea is the development of a model for the computation of the exact torque needed to achieve the…
Some results are presented concerning duality invariant effective string actions and the construction of automorphic functions for general (2,2) string compactifications. These considerations are applied in order to discuss the {\it…
The mathematical modeling of the contraction of a muscle is a crucial problem in biomechanics. Several different models of muscle activation exist in literature. A possible approach to contractility is the so-called active strain: it is…
An ultra-strong coupling regime takes place in a compound system when a coupling strength between the subsystems exceeds one tenth of the system eigenfrequency. It transforms into a deep-strong coupling regime when the coupling strength…