Related papers: A note on synthesizing geodesic based contact curv…
Cross-embodiment dexterous grasp synthesis refers to adaptively generating and optimizing grasps for various robotic hands with different morphologies. This capability is crucial for achieving versatile robotic manipulation in diverse…
We consider here a generalization of a well known discrete dynamical system produced by the bisection of reflection angles that are constructed recursively between two lines in the Euclidean plane. It is shown that similar properties of…
We study the relationship between the lengths of closed geodesics on hyperbolic surfaces and their topological complexity, measured by the self-intersection number. In particular, we provide explicit upper bounds for the length $s_k(X)$ of…
We use stable maps, and their stable lifts to the Semple bundle variety of second-order curvilinear data, to calculate certain characteristic numbers for rational plane curves. These characteristic numbers involve first-order (tangency) and…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…
In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we propose an asymmetric dual limit surface model to determine…
We present an efficient, accurate, and robust method for simulation of dense suspensions of deformable and rigid particles immersed in Stokesian fluid in two dimensions. We use a well-established boundary integral formulation for the…
When a fluid surface adheres to a substrate, the location of the contact line adjusts in order to minimize the overall energy. This adhesion balance implies boundary conditions which depend on the characteristic surface deformation…
Many applications of geometry modeling and computer graphics necessite accurate curvature estimations of curves on the plane or on manifolds. In this paper, we define the notion of the discrete geodesic curvature of a geodesic polygon on a…
We introduce one dimensional sets to help describe and constrain the integral curves of an $n$ dimensional dynamical system. These curves provide more information about the system than the zero-dimensional sets (fixed points) do. In fact,…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
The conventional no-slip boundary condition leads to a non-integrable stress singularity at a contact line. This is a main challenge in numerical simulations of two-phase flows with moving contact lines. We derive a two-dimensional…
This thesis is devoted to the Differential Geometry of curves and surfaces along with applications in Quantum Mechanics. In the 1st part we introduce the well known Frenet frame. Later, we show that the curvature function is a lower bound…
We derive a Kinetic Monte Carlo model for studying how contacts form between confined surfaces in an ideal solution. The model incorporates repulsive and attractive surface-surface forces between a periodic (2+1)-dimensional solid-on-solid…
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{max}$ of geodesic curvature of its path; this constrains the…
We propose a novel type of planar-to-spatial deployable structures that we call elastic geodesic grids. Our approach aims at the approximation of freeform surfaces with spatial grids of bent lamellas which can be deployed from a planar…
Geometric consistency, i.e. the preservation of neighbourhoods, is a natural and strong prior in 3D shape matching. Geometrically consistent matchings are crucial for many downstream applications, such as texture transfer or statistical…
Differentiable simulation enables gradients to be back-propagated through physics simulations. In this way, one can learn the dynamics and properties of a physics system by gradient-based optimization or embed the whole differentiable…
This paper investigates a generalized hyperbolic circle packing (including circles, horocycles or hypercycles) with respect to the total geodesic curvatures on the surface with boundary. We mainly focus on the existence and rigidity of…
Topologies of large deformation Contact-aided Compliant Mechanisms (CCMs), with self and mutual contact, exemplified via path generation applications, are designed using the continuum synthesis approach. Design domains are parameterized…