Related papers: On ideal dynamic climbing ropes
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
Hybrid dynamical systems are systems which posses both continuous and discrete transitions. Assuming that the discrete transitions (resets) occur a finite number of times, the optimal control problem can be solved by gluing together the…
A limit elastic energy for pure traction problem is derived from re-scaled nonlinear energy of an hyperelastic material body subject to an equilibrated force field. We show that the strains of minimizing sequences associated to re-scaled…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
Capillary forces acting at the surface of a liquid drop can be strong enough to deform small objects and recent studies have provided several examples of elastic instabilities induced by surface tension. We present such an example where a…
The design of compliant mechanisms is crucial in several technologies and relies on the availability of solutions for nonlinear structural problems. One of these solutions is given and experimentally validated in the present article for a…
The paper studies a dynamic blocking problem, motivated by a model of optimal fire confinement. While the fire can expand with unit speed in all directions, barriers are constructed in real time. An optimal strategy is sought, minimizing…
In this paper, we study a variant of the dynamic ridesharing problem with a specific focus on peak hours: Given a set of drivers and rider requests, we aim to match drivers to each rider request by achieving two objectives: maximizing the…
In this paper we consider an optimal investment and reinsurance problem with partially unknown model parameters which are allowed to be learned. The model includes multiple business lines and dependence between them. The aim is to maximize…
This paper investigates the difference between the circular and elliptical cases in one-on-one pursuit and evasion problems. Using the simultaneous differential equation derived by Barton and Eliezer, we derive a dynamical system based on…
We study the problem of peeling a Velcro strap from a surface using a robotic manipulator. The surface geometry is arbitrary and unknown. The robot has access to only the force feedback and its end-effector position. This problem is…
This paper formulates optimal pacing of a cyclist on hilly terrain time-trials as a minimum-time optimal control problem. Maximal power of a cyclist serves as a time-varying constraint and depends on fatigue and recovery which are captured…
A polymer repelled by unfavorable interactions with a uniform flat surface may still be pinned to attractive edges and corners. This is demonstrated by considering adsorption of a two-dimensional ideal polymer to an attractive corner of a…
We examine some basic physics surrounding regenerative braking and air drag. First, we analyze under what conditions it becomes energetically favorable to use aggressive regenerative braking to reach a lower speed over ``coasting'' where…
When quickly detaching an elastomer from a counterface, viscoelasticity dramatically increases the perceived adhesion relative to its adiabatic or equilibrium value. Here, we report simulations on the sticking contact between a rigid…
Many technologies based on fluid-structure interaction mechanisms are being developed to harvest energy from geophysical flows. The velocity of such flows is low, and so is their energy density. Large systems are therefore required to…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
One cannot pull an open, curved string along itself. This fact is clearly reflected in the unwrapping motion of a string or chain as it is dragged around an object, and implies strong consequences for slender structures in passive…
We investigate the feature compression of high-dimensional ridge regression using the optimal subsampling technique. Specifically, based on the basic framework of random sampling algorithm on feature for ridge regression and the A-optimal…