Related papers: Hexapods with a small linear span
Learning graph representations via low-dimensional embeddings that preserve relevant network properties is an important class of problems in machine learning. We here present a novel method to embed directed acyclic graphs. Following prior…
Geometric algebra is an optimal frame work for calculating with vectors. The geometric algebra of a space includes elements that represent all the its subspaces (lines, planes, volumes, ...). Conformal geometric algebra expands this…
Membranes holomorphically embedded in flat noncompact space are constructed in terms of the degrees of freedom of an infinite collection of 0-branes. To each holomorphic curve we associate infinite-dimensional matrices which are static…
A central question in invariant theory is that of determining the relations among invariants. Geometric invariant theory quotients come with a natural ample line bundle, and hence often a natural projective embedding. This question…
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…
Degree of mobility of a (pseudo-Riemannian) metric is the dimension of the space of metrics geodesically equivalent to it. We describe all possible values of the degree of mobility on a simply connected n-dimensional manifold of lorentz…
When a low dimensional chaotic attractor is embedded in a three dimensional space its topological properties are embedding-dependent. We show that there are just three topological properties that depend on the embedding: parity, global…
The purpose of this publication is to derive and discuss equations of motion of affinely rigid (homogeneously deformable) body moving in Euclidean space of general dimension $n$. Our aim is to present some analytical methods and to discuss…
In algebraic geometry, trigonal curves can always be embedded into Hirzebruch surfaces. In tropical geometry, the notion of trigonality does not have a unique translation. We focus on the characterization in terms of the existence of a…
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in which all pairs of adjacent joint axes are…
The real projective plane has three well know isomorphic constructions: the extended euclidean plane, unit (hemi)sphere, and three dimensional vector space over the reals. In this paper we find the isomorphisms that map between these three…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
A noncommutative algebra corresponding to the classical catenoid is introduced together with a differential calculus of derivations. We prove that there exists a unique metric and torsion-free connection that is compatible with the complex…
For any two disjoint oriented circles embedded into the 3-dimensional real projective space, we construct a 3-dimensional configuration space and its map to the projective space such that the linking number of the circles is the half of the…
The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…
Three-dimensional convex bodies can be classified in terms of the number and stability types of critical points on which they can balance at rest on a horizontal plane. For typical bodies these are nondegenerate maxima, minima, and…
A linkage is a finite graph with lengths assigned to each edge. A planar realization is a map to the plane which preserves edge lengths. It can be thought of as a mechanical device formed from stiff rods and rotating joints. We look at the…
The embeddings of complex plane projective curves in the plane are a cornerstone of the topological study of algebraic varieties. In this work, we deal with the local and global aspects of these embeddings, with a special attention to its…
A motion of a mechanism is a curve in its configuration space (c-space). Singularities of the c-space are kinematic singularities of the mechanism. Any mobility analysis of a particular mechanism amounts to investigating the c-space…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…