Related papers: Kinematic & Dynamic Analysis of the Human Upper Li…
How do humans move? Advances in reinforcement learning (RL) have produced impressive results in capturing human motion using physics-based humanoid control. However, torque-controlled humanoids fail to model key aspects of human motor…
A complete description of twisting somersaults is given using a reduction to a time-dependent Euler equation for non-rigid body dynamics. The central idea is that after reduction the twisting motion is apparent in a body frame, while the…
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft robotics for rehabilitation applications are characterized by…
This paper details an accessible geometric derivation of the forward and inverse kinematics of a parallel robotic linkage known as the Canfield joint, which can be used for pointing applications. The original purpose of the Canfield joint…
While studying the motion of a heavy symmetric top, in general, constants of motion are used. Some students may want to understand the motion in terms of torque, which can lie on their routine based on the usage of Newton's second law.…
Powered lower-limb exoskeletons provide assistive torques to coordinate limb motion during walking in individuals with movement disorders. Advances in sensing and actuation have improved the wearability and portability of state-of-the-art…
The mathematical modeling of the contraction of a muscle is a crucial problem in biomechanics. Several different models of muscle activation exist in literature. A possible approach to contractility is the so-called active strain: it is…
For locomotion, is an arm on a legged robot a liability or an asset for locomotion? Biological systems evolved additional limbs beyond legs that facilitates postural control. This work shows how a manipulator can be an asset for legged…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
We use kinetic theory in order to study the role of quantum fluctuations in the isotropization of the pressure tensor in a system subject to fast longitudinal expansion, such as the matter produced in the early stages of a heavy ion…
We consider the motion of several rigid bodies immersed in a two-dimensional incompress-ible perfect fluid, the whole system being bounded by an external impermeable fixed boundary. The fluid motion is described by the incompressible Euler…
Although typically possessing four limbs and short bodies, lizards have evolved a diversity of body plans, from short-bodied and fully-limbed to elongate and nearly limbless. Such diversity in body morphology is hypothesized as adaptations…
Statistical properties of evolving random graphs are analyzed using kinetic theory. Treating the linking process dynamically, structural characteristics such as links, paths, cycles, and components are obtained analytically using the rate…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
We present a framework of elastic locomotion, which allows users to enliven an elastic body to produce interesting locomotion by prescribing its high-level kinematics. We formulate this problem as an inverse simulation problem and seek the…
Methods from algebra and algebraic geometry have been used in various ways to study linkages in kinematics. These methods have failed so far for the study of linkages with helical joints (joints with screw motion), because of the presence…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces which are…
In this paper, the dynamics of a system of a finite number of screw dislocations is studied. Under the assumption of antiplane linear elasticity, the two-dimensional dynamics is determined by the renormalised energy. The interaction of one…