Related papers: A robophysical model of spacetime dynamics
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
We develop a generic spacetime model in General Relativity which can be used to build any gravitational model within General Relativity. The generic model uses two types of assumptions: (a) Geometric assumptions additional to the inherent…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…
It has been argued that an extended, quasi-rigid body evolving freely in curved spacetime can deviate from its natural trajectory by simply performing cyclic deformations. More interestingly, in the limit of rapid cycles, the amount of…
We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. We quantify the importance of…
This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific or dependant on a singularity-prone pendulum model, we…
We present a modification to a 'rotating' version of the dynamical Alcubierre spacetime, which was previously shown to permit closed timelike curves. We find that if the effective rotation rate is made dependent on the spacetime coordinates…
Any reasonable form of quantum gravity can explain (by phase interference) why on a large scale, inertial frames seem not to rotate relative to the average matter distribution in the universe without the need for absolute space, finely…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
We study the dynamics of homogeneous and isotropic Friedmann-Lema\^itre-Robertson-Walker cosmological models with positive spatial curvature within the context of mimetic gravity theory by employing dynamical system techniques. Our analysis…
Shape Dynamics is a metric theory of pure gravity, equivalent to General Relativity, but formulated as a gauge theory of spatial diffeomporphisms and local spatial conformal transformations. In this paper we extend the construction of Shape…
Relativistic Newtonian Dynamics (RND) was introduced in a series of recent papers by the author, in partial cooperation with J. M. Steiner. RND was capable of describing non-classical behavior of motion under a central attracting force. RND…
Challenges persist in nonholonomic robot navigation in dynamic environments. This paper presents a framework for such navigation based on the model of generalized velocity obstacles (GVO). The idea of velocity obstacles has been well…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
Soft robots, in contrast to their rigid counter parts, have infinite degrees of freedom that are coupled with their interaction with the environment. We consider the locomotion of an untethered robot, in the granular medium, comprised of…
Robotic materials are multi-robot systems formulated to leverage the low-order computation and actuation of the constituents to manipulate the high-order behavior of the entire material. We study the behaviors of ensembles composed of smart…
The space-time length R between a moving source and the observation point is calculated in order to substitute with it the spatial distance D, normally used in the Newton's law of gravitation, as well as in any inverse-square-law.…
We generalize the Hamiltonian picture of General Relativity coupled to classical matter, known as geometrodynamics, to the case where such matter is described by a Quantum Field Theory in Curved Spacetime, but gravity is still described by…