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An ant-like observer confined to a two-dimensional surface traversed by stripes would wonder whether this striped landscape could be devised in such a way as to appear to be the same wherever they go. Differently stated, this is the problem…
Let $\Gamma_g$ be the fundamental group of a closed connected orientable surface of genus $g\geq2$. We introduce a combinatorial structure of "core surfaces", that represent subgroups of $\Gamma_g$. These structures are (usually)…
This paper is a study of the dynamics of a new family of maps from the complex plane to itself, which we call twisted tent maps. A twisted tent map is a complex generalization of a real tent map. The action of this map can be visualized as…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
The purpose of this paper is finding the essential attributes underlying the convexity theorems for momentum maps. It is shown that they are of topological nature; more specifically, we show that convexity follows if the map is open onto…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the…
Friction, the resistive force between two surfaces sliding past each other, is at the core of a wide diversity of locomotion schemes. While such schemes are somewhat understood for homogeneous environments, locomotion based on friction in…
A $t$-tone coloring of a graph $G$ assigns to each vertex a set of $t$ colors such that any pair of vertices $u, v$ with distance $d$ can share at most $d-1$ colors. In this note, we prove several new results on $t$-tone coloring. For…
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to…
We study the double cone geometry proposed by Saad, Shenker, and Stanford in de Sitter space. We demonstrate that with the inclusion of static patch observers, the double cone leads to a linear ramp consistent with random matrix behavior.…
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…
We study the dynamics of the vector field on an open surface given by the gradient of a Green's function. This dynamical approach enables us to show that this field induces an invariant decomposition of the surface as the union of a disk…
Similar to Euclidean geometry, graph theory is a science that studies figures that consist of points and lines. The core of Euclidean geometry is the parallel postulate, which provides the basis of the geometric invariant that the sum of…
This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…
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…