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Some mechanical systems, that are modeled to have inelastic collisions, nonetheless possess energy-conserving intermittent-contact solutions, known as collisionless solutions. Such a solution, representing a persistent hopping or walking…
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…
How do we search for the entire family tree without unwanted random guesses, starting from a high-index and high-energy stationary state on the energy landscape? Here we introduce a general numerical method that constructs the pathway map…
We propose and develop an electrical and mechanical system model of a single-axis linear-motion kinetic energy harvester for impulsive excitation that allows its generated load power to be numerically optimised as a function of design…
We present a new method to describe the kinetics of driven lattice gases with particle-particle interactions beyond hard-core exclusions. The method is based on the time-dependent density functional theory for lattice systems and allows one…
Many dynamical systems exhibit similar structure, as often captured by hand-designed simplified models that can be used for analysis and control. We develop a method for learning to correspond pairs of dynamical systems via a learned latent…
In this paper, we propose a geometric integrator for nonholonomic mechanical systems. It can be applied to discrete Lagrangian systems specified through a discrete Lagrangian defined on QxQ, where Q is the configuration manifold, and a…
The complex behavior of many natural and engineered systems emerges from the interaction of a small number of effective degrees of freedom. Discovering the physical basis of the interactions between these degrees of freedom directly from…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
The choice of the representations is essential for deep gait recognition methods. The binary silhouettes and skeletal coordinates are two dominant representations in recent literature, achieving remarkable advances in many scenarios.…
We develop a deterministic large-time mechanism yielding Ces{\`a}ro asymptotic observability inequalities from moving localized observations for conservative evolutions. On each observation interval, exact convexification on a compact…
Numerical modelling of several coupled passive linear dynamical systems (LDS) is considered. Since such component systems may arise from partial differential equations, transfer function descriptions, lumped systems, measurement data, etc.,…
We consider a discrete system of $n$ devices lying on a 2-dimensional square grid and forming an initial connected shape $S_I$. Each device is equipped with a linear-strength mechanism which enables it to move a whole line of consecutive…
We analyze the popular ``state-space'' class of algorithms for detecting casual interaction in coupled dynamical systems. These algorithms are often justified by Takens' embedding theorem, which provides conditions under which relationships…
Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the…
Gait is a unique biometric feature that can be recognized at a distance; thus, it has broad applications in crime prevention, forensic identification, and social security. To portray a gait, existing gait recognition methods utilize either…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
It has been shown that max-plus linear systems are well suited for applications in synchronization and scheduling, such as the generation of train timetables, manufacturing, or traffic. In this paper we show that the same is true for…
In this paper, we give an explicit construction of dynamical systems (defined within a solid torus) containing any knot (or link) and arbitrarily knotted chaos. The first is achieved by expressing the knots in terms of braids, defining a…
We develop a unified geometric framework for mechanical systems that combine conservative and dissipative dynamics by formulating them on contact manifolds. Within this setting, we identify the Reeb vector field as the intrinsic generator…