Related papers: A Basic Mechanical and Geometric Framework for Qua…
This work presents an elegant formalism to model the evolution of the full two rigid body problem. The equations of motion, given in a Cartesian coordinate system, are expressed in terms of spherical harmonics and Wigner D-matrices. The…
In this paper, we study structured quasi-Newton methods for optimization problems with orthogonality constraints. Note that the Riemannian Hessian of the objective function requires both the Euclidean Hessian and the Euclidean gradient. In…
Physical modeling of robotic system behavior is the foundation for controlling many robotic mechanisms to a satisfactory degree. Mechanisms are also typically designed in a way that good model accuracy can be achieved with relatively simple…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
This paper describes a novel framework for computing geodesic paths in shape spaces of spherical surfaces under an elastic Riemannian metric. The novelty lies in defining this Riemannian metric directly on the quotient (shape) space, rather…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
A quantum theory in a finite-dimensional Hilbert space can be geometrically formulated as a proper Hamiltonian theory as explained in [2, 3, 7, 8]. From this point of view a quantum system can be described in a classical-like framework…
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners…
This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system…
Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects. We aim to utilize the dexterity of human hands to regulate the contact forces for robotic hands and exploit human…
This is a survey of a new type of relativistic space-time framework; the so-called quasi-metric framework. The basic geometric structure underlying quasi-metric relativity is quasi-metric space-time; this is defined as a 4-dimensional…
Reactive control can gracefully coordinate the motion of the base and the arm of a mobile manipulator. However, incorporating an accurate representation of the environment to avoid obstacles without involving costly planning remains a…
In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate how manipulation aspects can be recast in terms of…
A geometric approach to some quantum statistical systems (including the harmonic oscillator) is presented. We regard the (N+1)-dimensional Euclidean {\it coordinate} system (X$^i$,$\tau$) as the quantum statistical system of N quantum…
We develop a geometric formalism suited for describing the quantum thermodynamics of a certain class of nanoscale systems (whose density matrix is expressible in the McLennan--Zubarev form) at any arbitrary non-equilibrium steady state. It…
Over the last years, significant advances have been made in robotic manipulation, but still, the handling of non-rigid objects, such as cloth garments, is an open problem. Physical interaction with non-rigid objects is uncertain and complex…
In this second paper in a series, we show that the the general statistical approach to nonrelativistic quantum mechanics developed in the first paper yields a representation of quantum spin and magnetic moments based on classical…
We discuss the Hu-Washizu (HW) variational principle from a geometric standpoint. The mainstay of the present approach is to treat quantities defined on the co-tangent bundles of reference and deformed configurations as primal. Such a…
This article proposes a novel methodology to learn a stable robot control law driven by dynamical systems. The methodology requires a single demonstration and can deduce a stable dynamics in arbitrary high dimensions. The method relies on…