Related papers: Compliant Constant Output/ Input Force Mechanisms-…
Assembly and stability of mitotic spindle is governed by the interplay of various intra-cellular forces, e.g. the forces generated by motor proteins by sliding overlapping anti-parallel microtubules (MTs) polymerized from the opposite…
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…
This paper tackles the problem of physics-aware human motion synthesis in a dynamic scene. Unlike existing works which mainly tend to generate physically unrealistic motions due to limited contact modeling, typically restricted to hands, in…
Compliant mechanisms actuated by pneumatic loads are receiving increasing attention due to their direct applicability as soft robots that perform tasks using their flexible bodies. Using multiple materials to build them can further improve…
We analyze the convergence rate of various momentum-based optimization algorithms from a dynamical systems point of view. Our analysis exploits fundamental topological properties, such as the continuous dependence of iterates on their…
In the present work, a highly efficient Moving Morphable Component (MMC) based approach for multi-resolution topology optimization is proposed. In this approach, high-resolution optimization results can be obtained with much less number of…
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
Machine-learned coarse-grained (CG) models have the potential for simulating large molecular complexes beyond what is possible with atomistic molecular dynamics. However, training accurate CG models remains a challenge. A widely used…
The coupling effects in multiphysics processes are often neglected in designing multiscale methods. The coupling may be described by a non-positive definite operator, which in turn brings significant challenges in multiscale simulations. In…
This paper extends graphic statics by describing the forces and moments in any 3D rigid-jointed frame structure in terms of cell complexes using homology theory of algebraic topology. Graphic statics provides a highly geometric way to…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
In skew-product systems with contractive factors, all orbits asymptotically approach the graph of the so-called sync function; hence, the corresponding regularity properties primarily matter. In the literature, sync function Lipschitz…
Control Barrier Functions (CBFs) offer a framework for ensuring set invariance and designing constrained control laws. However, crafting a valid CBF relies on system-specific assumptions and the availability of an accurate system model,…
This paper presents a synthesis approach in a density-based topology optimization setting to design large deformation compliant mechanisms for inducing desired strains in biological tissues. The modelling is based on geometrical…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Topological mechanics can realize soft modes in mechanical metamaterials in which the number of degrees of freedom for particle motion is finely balanced by the constraints provided by interparticle interactions. However, solid objects are…
Topological metamaterials have invaded the mechanical world, demonstrating acoustic cloaking and waveguiding at finite frequencies and variable, tunable elastic response at zero frequency. Zero frequency topological states have previously…
Much work has been done in topology optimization of multiscale structures for maximum stiffness or minimum compliance design. Such approaches date back to the original homogenization-based work by Bends{\o}e and Kikuchi from 1988, which…
Topology is a fundamental aspect of quantum physics, and it has led to key breakthroughs and results in various fields of quantum materials. In condensed matters, this has culminated in the recent discovery of symmetry-protected topological…