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Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
Designing for rotational stability can dramatically affect the geometry of a space station. If improperly designed, the rotating station could end up catastrophically tumbling end-over-end. Active stabilization can address this problem;…
We consider the singular configurations of gravitating gas [1] which could be used as a model for disk galaxies. The simplest steady configuration, which corresponds to rotation of stars around center gives flat rotational curve, provided…
In this work, we model the movement of a figure skater gliding on ice by the Chaplygin sleigh, a classic pedagogical example of a nonholonomic mechanical system. The Chaplygin sleigh is controlled by a movable added mass, modeling the…
A ring may be regarded as a torus with r << R, where R is the major radius and r is the minor radius. When such a ring is placed on a rough rod and released with some angular velocity, it may continue to vertically spin around the rod for…
In this article we prove semiglobal stabilization and exact controllability results for nonlinear plate equations with hinged boundary conditions and analytic nonlinearity. These results hold when the damping or control is localized in a…
This note adds some critical remarks on the discussion presented in the McDonald's paper ([1]) on stability of steady motion of the well known problem of a disk rolling on a rough horizontal plane.
In this paper, we present a principled method to model general planar sliding motion with distributed convex contact patch. The effect of contact patch with indeterminate pressure distribution can be equivalently modeled as the contact…
Based on the Weierstrass representation of second variation we develop a non-spectral theory of stability for isoperimetric problem with minimized and constrained two-dimensional functionals of general type and free endpoints allowed to…
This article is dedicated to the investigation of the stabilization problem of a flexible beam attached to the center of a rotating disk. We assume that the feedback law contains a nonlinear torque control applied on the disk and nonlinear…
This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the limit surface approach under the…
We study fixed assemblies of touching spheres that can individually rotate. From any initial state, sliding friction drives an assembly toward a slip-free rotation state. For bipartite assemblies, which have only even loops, this state has…
Bipedal robots adapt to the environment of the modern society due to the similarity of movement to humans, and therefore they are a good partner for humans. However, maintaining the stability of these robots during walking/running motion is…
We study the motion of self deforming bodies with non zero angular momentum when the changing shape is known as a function of time. The conserved angular momentum with respect to the center of mass, when seen from a rotating frame,…
We theoretically study the conformational and dynamical properties of semiflexible active polar ring polymers under linear shear flow. A ring is described as a continuous Gaussian polymer with a tangential active force of a constant density…
We study the motion of the system, S, constituted by a rigid body, B, containing in its interior a viscous compressible fluid, and moving in absence of external forces. Our main objective is to characterize the long time behavior of the…
We studied the dynamics of an object sliding down on a semi-sphere with radius $R$. We consider the physical setup where the semi-sphere is free to move over a flat surface. For simplicity, we assume that all surfaces are friction-less. We…
We propose a generative approach to physics-based motion capture. Unlike prior attempts to incorporate physics into tracking that assume the subject and scene geometry are calibrated and known a priori, our approach is automatic and online.…
A stationary rotating surface is a compact surface in Euclidean space whose mean curvature $H$ at each point $x$ satisfies $2H(x)=a r^2+b$, where $r$ is the distance from $x$ to a fixed straight-line $L$, and $a$ and $b$ are constants.…
In this paper we consider the equiform motion of a helix in Euclidean space $\mathbf{E}^7$. We study and analyze the corresponding kinematic three dimensional surface under the hypothesis that its scalar curvature $\mathbf{K}$ is constant.…