Related papers: A Basic Mechanical and Geometric Framework for Qua…
The goal of this paper is to present a rigorous and intrinsic formulation of a Riemannian PD-regulator of the robot's tool, The first one is based upon the Lasalle's invariance principle, we use it to control the tool's position in the…
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…
We consider macroscopic systems in weak contact with boundary reservoirs and under the action of external fields. We present an explicit formula for the Hamiltonian of such systems, from which we deduce the equation of motions, the action…
This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
A geometric setup for control theory is presented. The argument is developed through the study of the extremals of action functionals defined on piecewise differentiable curves, in the presence of differentiable non-holonomic constraints.…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
This paper proposes a framework that optimizes the linkage mechanism of the quasi-serial manipulator for target tasks. This process is explained through a case study of 2-degree-of-freedom linkage mechanisms, which significantly affect the…
Active matter represents a class of non-equilibrium systems that constantly dissipate energy to produce directed motion. The thermodynamic control of active matter holds great potential for advancements in synthetic molecular motors,…
In this paper we review a proposed geometrical formulation of quantum mechanics. We argue that this geometrization makes available mathematical methods from classical mechanics to the quantum frame work. We apply this formulation to the…
A novel methodology to efficiently approximate the Hessian for numerical shape optimization is considered. The method enhances operator symbol approximations by including body fitted coordinates and spatially changing symbols in a semi…
Collisions and contacts of elastic materials are numerically and theoretically investigated. Using a two-dimensional spring-mass model with defect particles under the free boundary condition, we reproduce the Hertzian contact theory at…
We develop a geometric framework for the numerical integration of mechanical systems evolving on manifolds. After briefly reviewing classical numerical methods and highlighting their limitations and shortcomings in non-flat (non-Euclidean)…
We formulate a geometric framework for quasistatic thermodynamics in open quantum systems by parameterizing the dynamics on a control manifold. In the quasistatic limit, the system follows a manifold of stationary states, and the work…
Using the quantum Hamiltonian for a gravitational system with boundary, we find the partition function and derive the resulting thermodynamics. The Hamiltonian is the boundary term required by functional differentiability of the action for…
The near-axis theory for quasi-isodynamic stellarator equilibria is reformulated in terms of geometric inputs, to allow greater control of the ``direct construction'' of quasi-isodynamic configurations, and to facilitate understanding of…
The quasilocal energy of gravitational and matter fields in a spatially bounded region is obtained by employing a Hamilton-Jacobi analysis of the action functional. First, a surface stress-energy-momentum tensor is defined by the functional…
Matrix configurations coming from matrix models comprise many important aspects of modern physics. They represent special quantum spaces and are thus strongly related to noncommutative geometry. In order to establish a semiclassical limit…
In this paper, considering a braided continuum soft-robot, whose radial deformation is constrained but elongation is assumed, a quasi-Lagrangian model is proposed that meets the Lagrangian models properties, including a well-posed input…
This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manipulation is quasi-static in the sense that transitions are…