Related papers: On ideal dynamic climbing ropes
Theory of stochastic processes provides theoretical tools which can be efficiently used to explore properties of noise induced escape kinetics. Since noise facilitated escape over the potential barrier resembles free climbing, one can use…
It has been known for more than 300 years that the shape of an inelastic hanging cable, chain, or rope of uniform linear mass density is the graph of the hyperbolic cosine, up to scaling and shifting coordinates. But given two points at…
Rescue missions in mountain environments are hardly achievable by standard legged robots-because of the high slopes-or by flying robots-because of limited payload capacity. We present a concept for a rope-aided climbing robot which can…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
Climbing is a multifaceted sport that combines physical demands and emotional and cognitive challenges. Ascent styles differ in fall distance with lead climbing involving larger falls than top rope climbing, which may result in different…
The problem of finding the optimal tapering of a free (non-supported) javelin is described and solved. For the optimal javelin, the lowest mode of vibration has the highest possible frequency. With this tapering inner damping will lead to…
We investigate the tension distribution in systems of mass-less ropes under different loading conditions. For a two-rope system, we demonstrate how the breaking scenario depends on the applied force dynamics: rapid pulling causes the lower…
The one-dimensional fall of a folded chain with one end suspended from a rigid support and a chain falling from a resting heap on a table is studied. Because their Lagrangians contain no explicit time dependence, the falling chains are…
An optimal control problem for longitudinal motions of a thin elastic rod is considered. We suppose that a normal force, which changes piecewise constantly along the rod's length, is applied to the cross-section so that the positions of…
The problem of a suspended rope wrapped around a fixed cylinder is studied. If the suspension force is larger than a certain threshold (which is larger than the weight of the rope), the rope would remain tightly wrapped around the cylinder.…
Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics,…
The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…
The increasing share of volatile renewable electricity production motivates demand response. Substantial potential for demand response is offered by flexible processes and their local multi-energy supply systems. Simultaneous optimization…
This paper presents an aerially deployable crawler designed for adaptive locomotion and manipulation within tree canopies. The system combines compliant microspine-based tracks, a dual-track rotary gripper, and an elastic tail, enabling…
A folded chain, with one end fixed at the ceiling and the other end released from the same elevation, is commonly modeled as an energy-conserving system in one-dimension. However, the analytical paradigms in previous literature is…
Vibrating systems can respond to an infinite number of initial conditions and the overall dynamics of the system can be strongly affected by them. Therefore, it is of practical importance to have methods by which we can determine the…
Understanding the complex patterns in space-time exhibited by active systems has been the subject of much interest in recent times. Complementing this forward problem is the inverse problem of controlling active matter. Here we use optimal…
In this work, we examine the whip dynamics in a freely falling chain. We consider an inextensible chain with free ends in the presence of gravity hanging from a fixed pulley. If the configuration is unbalanced, the chain begins to…
We consider an intermediary's problem of dynamically matching demand and supply of heterogeneous types in a periodic-review fashion. More specifically, there are two disjoint sets of demand and supply types, and a reward associated with…
We consider the elastic energy of a hanging drape -- a thin elastic sheet, pulled down by the force of gravity, with fine-scale folding at the top that achieves approximately uniform confinement. This example of energy-driven pattern…