Related papers: A note on synthesizing geodesic based contact curv…

A main challenge in numerical simulations of moving contact line problems is that the adherence, or no-slip boundary condition leads to a non-integrable stress singularity at the contact line. In this report we perform the first steps in…

Surfaces and curves play an important role in geometric design. In recent years, problem of finding a surface passing through a given curve have attracted much interest. In the present paper, we propose a new method to construct a surface…

We prove the first polynomial bound on the number of monotonic homotopy moves required to tighten a collection of closed curves on any compact orientable surface, where the number of crossings in the curve is not allowed to increase at any…

In many problems in optimal control, one seeks to minimise an objective function subject to constraints on the velocity of the system. Imposing these constraints directly -- the ``hard-constrained'' approach -- is often analytically and…

In this paper, we present the geodesic-like algorithm for the computation of the shortest path between two objects on NURBS surfaces and periodic surfaces. This method can improve the distance problem not only on surfaces but in…

Humans interact with an object in many different ways by making contact at different locations, creating a highly complex motion space that can be difficult to learn, particularly when synthesizing such human interactions in a controllable…

This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to…

The rolling resistance between a pair of contacting particles can be modeled with two mechanisms. The first mechanism, already widely addressed in the DEM literature, involves a contact moment between the particles. The second mechanism…

We give a lower bound on the number of non-simple closed curves on a hyperbolic surface, given upper bounds on both length and self-intersection number. In particular, we carefully show how to construct closed geodesics on pairs of pants,…

We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…

In this paper, we construct rotating frames for curves, including plane curves, space curves and curves on surfaces. Hence, the behaviour of an arbitrary moving point on a curve can be seen as the composite of linear motion and rotation.…

Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of…

In this paper we study a class of Riemannian metrics on the space of unparametrized curves and develop a method to compute geodesics with given boundary conditions. It extends previous works on this topic in several important ways. The…

One of the most challenging and basic problems in elastic rod dynamics is a description of rods in contact that prevents any unphysical self-intersections. Most previous works addressed this issue through the introduction of short-range…

A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

This paper presents an approach for inferring geometric constraints in human demonstrations. In our method, geometric constraint models are built to create representations of kinematic constraints such as fixed point, axial rotation,…

We introduce a contact law for the normal force generated between two contacting, elastically anisotropic bodies of arbitrary geometry. The only requirement is that their surfaces be smooth and frictionless. This anisotropic contact law is…

Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…

Ruled surfaces play an important role in various types of design, architecture, manufacturing, art, and sculpture. They can be created in a variety of ways, which is a topic that has been the subject of much discussion in mathematics and…