Related papers: A Basic Mechanical and Geometric Framework for Qua…
This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncertainties, exogenous disturbances, and their influence upon…
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we…
Robotic manipulation of slender objects is challenging, especially when the induced deformations are large and nonlinear. Traditionally, learning-based control approaches, such as imitation learning, have been used to address deformable…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
We revisit the discussion of the energetics of quasi-geostrophic flows from a geometric perspective based on the introduction of an effective metric, built in terms of the flow stratification and the Coriolis parameter. In particular, an…
The quasipotential is a natural generalization of the concept of energy functions to non-equilibrium systems. In the analysis of rare events in stochastic dynamics, it plays a central role in characterizing the statistics of transition…
We develop Hamiltonian mechanics on Aristotelian manifolds, which lack local boost symmetry and admit absolute time and space structures. We construct invariant phase space dynamics, define free Hamiltonians, and establish a generalized…
Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For robots with a useful number of DoF, these geometric…
Model-based control faces fundamental challenges in partially-observable environments due to unmodeled obstacles. We propose an online learning and optimization method to identify and avoid unobserved obstacles online. Our method,…
This paper consists of two parts. In the first part we prove the unique solvability for the abstract variational-hemivariational inequality with history-dependent operator. The proof is based on the existing result for the static…
In this work we develop a Hessian-based sampling method for the construction of goal-oriented reduced order models with high-dimensional parameter inputs. Model reduction is known very challenging for high-dimensional parametric problems…
In this work, we present a geometrical formulation of quantum thermodynamics based on contact geometry and principal fiber bundles. The quantum thermodynamic state space is modeled as a contact manifold, with equilibrium Gibbs states…
In the history of mechanics, there have been two points of view for studying mechanical systems: The Newtonian and the Cartesian. According the Descartes point of view, the motion of mechanical systems is described by the first-order…
Since the 1970s contact geometry has been recognized as an appropriate framework for the geometric formulation of the state properties of thermodynamic systems, without, however, addressing the formulation of non-equilibrium thermodynamic…
We describe how geometrical methods can be applied to a system with explicitly time-dependent second-class constraints so as to cast it in Hamiltonian form on its physical phase space. Examples of particular interest are systems which…
This work reflects on mechanics as an epistemological framework on the state of a physical system to regard dynamics as the distribution of mechanical properties over spacetime coordinates. The resulting distribution is taken to be the…
A variational model of pressure-dependent plasticity employing a time-incremental setting is introduced. A novel formulation of the dissipation potential allows one to construct the condensed energy in a variationally consistent manner. For…
We show that the path of any accelerated body in an arbitrary space-time geometry $g_{\mu\nu}$ can be described as geodesics in a dragged metric $\hat{q}_{\mu\nu}$ that depends only on the background metric and on the motion of the body.…
A general method is described for finding algebraic expressions for matrix elements of any one- and two-particle operator for an arbitrary number of subshells in an atomic configuration, requiring neither coefficients of fractional…
We introduce a geometrical framework to construct a large class of time-dependent quantum systems, in which the position of a classical particle moving autonomously on a smooth connected manifold is used to steer a quantum Hamiltonian over…