Related papers: Passive Static Equilibrium with Frictional Contact…
This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…
We study the motion of elastic networks driven over a random substrate. Our model which includes local friction forces leads to complex dynamical behavior. We find a transition to a sliding state which belongs to a new universality class.…
This article describes an absolutely stable, first-order constraint solverfor multi-rigid body systems that calculates (predicts) constraint forces for typical bilateral and unilateral constraints, contact constraints with friction, and…
Slip detection is essential for robots to make robust grasping and fine manipulation. In this paper, a novel dynamic vision-based finger system for slip detection and suppression is proposed. We also present a baseline and feature based…
If a contact of two purely elastic bodies with no sliding (infinite coefficient of friction) is subjected to superimposed oscillations in the normal and tangential directions, then a specific damping appears, that is not dependent on…
The fully dynamic transitive closure problem asks to maintain reachability information in a directed graph between arbitrary pairs of vertices, while the graph undergoes a sequence of edge insertions and deletions. The problem has been…
Recent years have witnessed the development of so-called relaxation tribometers, the free oscillation of which is altered by the presence of frictional stresses within the contact. So far, analysis of such oscillations has been restricted…
From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging under geometric uncertainties, e.g., when the object pose or…
In many matching markets--such as athlete recruitment or academic admissions--participants on one side are evaluated by attribute vectors known to the other side, which in turn applies individual \emph{salience vectors} to assign relative…
This paper presents the stability analysis of a system sliding at low velocities ($< 100 \mu$m.s$^{-1}$) under a periodically modulated normal load, preserving interfacial contact. Experiments clearly evidence that normal vibrations…
We study the quantitative stability of Serrin's symmetry problem and it's connection with a dynamic model for contact angle motion of quasi-static capillary drops. We prove a new stability result which is both linear and depends only on a…
We study stable matchings that are robust to preference changes in the two-sided stable matching setting of Gale and Shapley[GS62]. Given two instances $A$ and $B$ on the same set of agents, a matching is said to be robust if it is stable…
We study long-range interacting systems perturbed by external stochastic forces. Unlike the case of short-range systems, where stochastic forces usually act locally on each particle, here we consider perturbations by external stochastic…
This paper addresses stochastic stabilization in case where implementation of control policies is digital, i. e., when the dynamical system is treated continuous, whereas the control actions are held constant in predefined time steps. In…
Passivity property gives a sense of energy balance. The classical definitions and theorems of passivity in dynamical systems require time invariance and locally Lipschitz functions. However, these conditions are not met in many systems. A…
The influence of out-of-plane oscillations on friction is a well-known phenomenon that has been studied extensively with various experimental methods, e.g. pin-on-disk tribometers. However, existing theoretical models have yet achieved only…
The selective frequency damping (SFD) method is an alternative to classical Newton's method to obtain unstable steady-state solutions of dynamical systems. However this method has two main limitations: it does not converge for arbitrary…
We derive a sufficient condition for stability in probability of an equilibrium of a randomly perturbed map in ${\mathbb R}^d$. This condition can be used to stabilize weakly unstable equilibria by random forcing. Analytical results on…
The main purpose of this paper is to formulate new conditions for smooth linearization of nonautonomous systems with discrete and continuous time. Our results assume that the linear part admits a nonuniform polynomial dichotomy and that the…
We consider a broad class of second-order dynamical systems and study the impact of damping as a system parameter on the stability, hyperbolicity, and bifurcation in such systems. We prove a monotonic effect of damping on the hyperbolicity…