Related papers: Integrable systems in planar robotics
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Various solutions are displayed and analyzed (both analytically and numerically) of arecently-introduced many-body problem in the plane which includes both integrable and nonintegrable cases (depending on the values of the coupling…
This paper has the purpose of presenting in an organic way a new approach to integrable (1+1)-dimensional field systems and their systematic quantization emerging from intersection theory of the moduli space of stable algebraic curves and,…
The group of automorphisms of the geometry of an integrable system is considered. The geometrical structure used to obtain it is provided by a normal form representation of integrable systems that do not depend on any additional geometrical…
Anomalous entrainment in cumulus clouds has been a topic of investigation over many decades in the past. Its importance stems from the fact that entrainment rate is one of the major inputs to several cumulus-parameterization schemes.…
A moving parallel frame method is applied to geometric non-stretching curve flows in the Hermitian symmetric space Sp(n)/U(n) to derive new integrable systems with unitary invariance. These systems consist of a bi-Hamiltonian modified…
A study of the integrability of one-dimensional quantum mechanical many-body systems with general point interactions and boundary conditions describing the interactions which can be independent or dependent on the spin states of the…
The field of bio-inspired robotics seeks to create mechanical systems that mimic the designs and concepts used by biological systems. One of the more challenging biological concepts to imitate in mechanical systems is the ability to create…
Robots are ubiquitous in small-to-large-scale manufacturers. While collaborative robots (cobots) have significant potential in these settings due to their flexibility and ease of use, proper integration is critical to realize their full…
Linkages are mechanical devices constructed from rigid bars and freely rotating joints studied both for their utility in engineering and as mathematical idealizations in a number of physical systems. Recently, there has been a resurgence of…
Integrated Task and Motion Planning (ITMP) for mobile robots in a dynamic environment with moving obstacles is a challenging research question and attracts more and more attentions recently. Most existing methods either restrict to static…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
An overview of Hamiltonian systems with noncanonical Poisson structures is given. Examples of bi-Hamiltonian ode's, pde's and lattice equations are presented. Numerical integrators using generating functions, Hamiltonian splitting,…
Integrable quantum mechanical systems with magnetic fields are constructed in two-dimensional Euclidean space. The integral of motion is assumed to be a first or second order Hermitian operator. Contrary to the case of purely scalar…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
In this paper we present an overview of the connection between completely integrable systems and the background geometry of the flow. This relation is better seen when using a group-based concept of moving frame introduced by Fels and Olver…
The development of versatile robots capable of traversing challenging and irregular environments is of increasing interest in the field of robotics, and metameric robots have been identified as a promising solution due to their slender,…
In this paper we study generalized classes of volume preserving multidimensional integrable systems via Nambu-Poisson mechanics. These integrable systems belong to the same class of dispersionless KP type equation. Hence they bear a close…
The solution of problems in physics is often facilitated by a change of variables. In this work we present neural transformations to learn symmetries of Hamiltonian mechanical systems. Maintaining the Hamiltonian structure requires novel…