Related papers: A note on synthesizing geodesic based contact curv…
We consider $n$-dimensional discrete motions such that any two neighbouring positions correspond in a pure rotation ("rotating motions"). In the Study quadric model of Euclidean displacements these motions correspond to quadrilateral nets…
We characterize when two conic curved creases are compatible with each other, when the rule lines must converge to conic foci and reflect at the crease. Namely, two conics are compatible (can be connected by rule segments in a foldable…
We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven…
Soft interfaces can mediate interactions between particles bound to them. The force transmitted through the surface geometry on a particle may be expressed as a closed line integral of the surface stress tensor around that particle. This…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
We extend previous work on the two-dimensional developable tangent surface to its higher dimensional analogues $\mathfrak{M} \subset \mathbb{R}^{n+1}$. The approach here similarly applies cylindrical approximate decoupling at its core,…
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually…
In this article, the shape optimization of a linear elastic body subject to frictional (Tresca) contact is investigated. Due to the projection operators involved in the formulation of the contact problem, the solution is not shape…
This paper characterizes Goppa codes of certain maximal curves over finite fields defined by equations of the form $y^n = x^m + x$. We investigate Algebraic Geometric and quantum stabilizer codes associated with these maximal curves and…
During oscillatory wetting, a phase retardation emerges between contact angle variation and contact line velocity, presenting as a hysteresis loop in their correlation -- an effect we term dynamic hysteresis. This phenomenon is found to be…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Recent experiments (Guan et al. 2016a,b) showed many interesting phenomena on dynamic contact angle hysteresis while there is still a lack of complete theoretical interpretation. In this work, we study the time averaging of the apparent…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
We investigate the relationship among characteristic curves on developable surfaces. In case parameter curves coincide with these curves, we show that the base curve of a developable surface could be either a plane curve, a circular helix,…
In the complex of curves of a closed orientable surface of genus $g,$ $\mathcal{C}(S_g),$ a preferred finite set of geodesics between any two vertices, called \emph{efficient geodesics} introduced by Birman, Margalit, and Menasco in…
Contact planning is crucial in locomoting systems.Specifically, appropriate contact planning can enable versatile behaviors (e.g., sidewinding in limbless locomotors) and facilitate speed-dependent gait transitions (e.g., walk-trot-gallop…
We obtain a coarse relationship between geometric intersection numbers of curves and the sum of their subsurface projection distances with explicit quasi-constants. By using this relationship, we give applications in the studies of the…
In this article, we study optimal control of dynamics in a linear chain of three spin 1/2, weakly coupled with unequal Ising couplings. We address the problem of time-optimal synthesis of multiple spin quantum coherences. We derive…
In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…
We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization…