Related papers: A robophysical model of spacetime dynamics
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…
Every system in physics is described in terms of interacting elementary particles characterized by modulated spacetime recurrences. These intrinsic periodicities, implicit in undulatory mechanics, imply that every free particle is a…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
It is proposed that gravity may arise in the low energy limit of a model of matter fields defined on a special kind of a dynamical random lattice. Time is discretized into regular intervals, whereas the discretization of space is random and…
Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…
Based on the Generalized Principle of Inertia, which states that: \emph{An inanimate object moves freely, that is, with zero acceleration, in its own spacetime, whose geometry is determined by all of the forces affecting it,} we geometrize…
Field-based reactive control provides a minimalist, decentralized route to guiding robots that lack onboard computation. Such schemes are well suited to resource-limited machines like microrobots, yet implementation artifacts, limited…
We give a precise theoretical description of initially aligned sets of orthogonal gyroscopes which are transported along different paths from some initial point to the same final point in spacetime. These gyroscope systems can be used to…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
This series of works revisits the geometry, dynamics, and covariant phase space of spherically symmetric spacetimes with the aim of exploring the thermodynamics of spacetime from their dynamical properties. In this first paper, we examine…
An experimental test at the intersection of quantum physics and general relativity is proposed: measurement of relativistic frame dragging and geodetic precession using intrinsic spin of electrons. The behavior of intrinsic spin in…
Gravity gradiometry within the framework of the general theory of relativity involves the measurement of the elements of the relativistic tidal matrix, which is theoretically obtained via the projection of the spacetime curvature tensor…
Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…
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.…
The rotational metric provides an exact solution to Einstein's clock-rate problem in curved spacetime, specifically, whether time flows more slowly at the equator of a compact object such as a neutron star than at its poles. It features a…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…