Related papers: A robophysical model of spacetime dynamics
Among theoretical issues in General Relativity the problem of constructing its Hamiltonian formulation is still of interest. The most of attempts to quantize Gravity are based upon Dirac generalization of Hamiltonian dynamics for system…
We consider f(R,T) modified theory of gravity in which, in general, the gravitational Lagrangian is given by an arbitrary function of the Ricci scalar and the trace of the energy-momentum tensor. We indicate that in this type of the theory,…
In this work, we apply the formalism of dynamical systems to analyze the viability of the $\Lambda$CDM model in a generalized form of the hybrid metric-Palatini gravity theory written in terms of its dynamically equivalent scalar-tensor…
Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a…
One potentially realistic specification for devices designed with transformation optics is that they operate with high precision in curved space-time, such as Earth orbit. This raises the question of what, if any, role does space-time…
As a sequel to (Berman, 2008a), we show that the rotation of the Universe can be dealt by generalised Gaussian metrics, defined in this paper. Robertson-Walker's metric has been employed with proper-time, in its standard applications; the…
The role of an exponential function of the scalar curvature in the modified gravity is analyzed. Two models are proposed. A toy model that complies with local and cosmological constraints and gives appropriate qualitative description of the…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
We study experimentally, numerically and analytically, the dynamics of a chiral active particle (cm-sized robots), pulled at a constant translational velocity. We show that the system can be mapped to a Brownian particle driven across a…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
The software tool GRworkbench is an ongoing project in visual, numerical General Relativity at The Australian National University. Recently, GRworkbench has been significantly extended to facilitate numerical experimentation in…
With the aid of a Fermi-Walker chart associated with an orthonormal frame attached to a time-like curve in spacetime, a discussion is given of relativistic balance laws that may be used to construct models of massive particles with spin,…
This work presents a non-parametric spatio-temporal model for mapping human activity by mobile autonomous robots in a long-term context. Based on Variational Gaussian Process Regression, the model incorporates prior information of spatial…
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…
We study the approach to gravity in which our curved spacetime is considered as a surface in a flat ambient space of higher dimension (the embedding theory). The dynamical variable in this theory is not a metric but an embedding function.…
In general relativity, the motion of an extended body moving in a given spacetime can be described by a particle on a (generally non-geodesic) worldline. In first approximation, this worldline is a geodesic of the underlying spacetime, and…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
An important challenge in robotics is understanding the interactions between robots and deformable terrains that consist of granular material. Granular flows and their interactions with rigid bodies still pose several open questions. A…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
We develop the spacetime approach to gravitational lensing by spherically symmetric perturbations of flat, cosmological constant-dominated Friedman-Robertson-Walker metrics. The geodesics of the spacetime are expressed as integral…