Related papers: Tire tracks and integrable curve evolution
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
Wave propagation and acoustic scattering problems require vast computational resources to be solved accurately at high frequencies. Asymptotic methods can make this cost potentially frequency independent by explicitly extracting the…
This study presents a theoretical framework for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic apex states. Based on the prismatic inverted pendulum model, we formulate a hybrid…
A parameter of a mathematical model is structurally identifiable if it can be determined from noiseless experimental data. Here, we examine the identifiability properties of two important classes of linear compartmental models:…
A short historical account of the curves related to the two-dimensional floating bodies of equilibrium and the bicycle problem is given. Bor, Levi, Perline and Tabachnikov found, quite a number had already been described as Elastica by…
A filament consists of local maximizers of a smooth function $f$ when moving in a certain direction. A filamentary structure is an important feature of the shape of an object and is also considered as an important lower dimensional…
The direct parametrisation method for invariant manifolds is adjusted to consider a varying parameter. More specifically, the case of systems experiencing a Hopf bifurcation in the parameter range of interest are investigated, and the…
Two planar embedded circle patterns with the same combinatorics and the same intersection angles can be considered to define a discrete conformal map. We show that two locally finite circle patterns covering the unit disc are related by a…
The aim of this article is twofold. First, we show the evolution of the vortex filament equation (VFE) for a regular planar polygon in the hyperbolic space. Unlike in the Euclidean space, the planar polygon is open and both of its ends grow…
In this article, we first show that for all compact Riemannian manifolds with non-empty smooth boundary and dimension at least 3, there exists a metric, pointwise conformal to the original metric, with constant scalar curvature in the…
This paper investigates travelling wave solutions of the FitzHugh-Nagumo equation from the viewpoint of fast-slow dynamical systems. These solutions are homoclinic orbits of a three dimensional vector field depending upon system parameters…
We propose a new approach for the solution of initial value problems for integrable evolution equations in the periodic setting based on the unified transform. Using the nonlinear Schr\"odinger equation as a model example, we show that the…
This paper provides results for eigencurves associated with self-adjoint linear elliptic boundary value problems. The elliptic problems are treated as a general two-parameter eigenproblem for a triple (a, b, m) of continuous symmetric…
We investigate the equilibrium configurations of closed planar elastic curves of fixed length, whose stiffness, also known as the bending rigidity, depends on an additional density variable. The underlying variational model relies on the…
This paper deals with the evolution equation of a curve obtained as the sharp interface limit of a non-linear system of two reaction-diffusion PDEs. This system was introduced as a phase-field model of (crawling) motion of eukaryotic cells…
Following Part~I, we consider a class of reversible systems and study bifurcations of homoclinic orbits to hyperbolic saddle equilibria. Here we concentrate on the case in which homoclinic orbits are symmetric, so that only one control…
We analyze a mathematical model of elastic dislocations with applications to geophysics, where by an elastic dislocation we mean an open, oriented Lipschitz surface in the interior of an elastic solid, across which there is a discontinuity…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
We prove strong well-posedness for a class of stochastic evolution equations in Hilbert spaces H when the drift term is Holder continuous. This class includes examples of semilinear stochastic damped wave equations which describe elastic…