Related papers: Empirically-based Multibody Dynamics for Modeling …
Screw and Lie group theory allows for user-friendly modeling of multibody systems (MBS) while at the same they give rise to computationally efficient recursive algorithms. The inherent frame invariance of such formulations allows for use of…
We propose a simple and practical approach for incorporating the effects of muscle inertia, which has been ignored by previous musculoskeletal simulators in both graphics and biomechanics. We approximate the inertia of the muscle by…
While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far,…
Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…
Biomechanics and human movement research often involves measuring multiple kinematic or kinetic variables regularly throughout a movement, yielding data that present as smooth, multivariate, time-varying curves and are naturally amenable to…
In this paper, we propose to estimate the forward dynamics equations of mechanical systems by learning a model of the inverse dynamics and estimating individual dynamics components from it. We revisit the classical formulation of rigid body…
The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-based controls cannot realize intended movements. Therefore,…
Understanding the many-body dynamics of isolated quantum systems is one of the central challenges in modern physics. To this end, the direct experimental realization of strongly correlated quantum systems allows one to gain insights into…
Computational biomechanical analysis plays a pivotal role in understanding and improving human movements and physical functions. Although physics-based modeling methods can interpret the dynamic interaction between the neural drive to…
The position-based dynamics (PBD) algorithm is a popular and versatile technique for real-time simulation of deformable bodies, but is only applicable to forces that can be expressed as linearly compliant constraints. In this work, we…
Several physical systems in condensed matter have been modeled approximating their constituent particles as hard objects. The hard spheres model has been indeed one of the cornerstones of the computational and theoretical description in…
We develop a density matrix formalism to describe coupled electron-nuclear dynamics. To this end we introduce an effective Hamiltonian formalism that describes electronic transitions and small (quantum) nuclear fluctuations along a…
We study the application of a new method for simulating nonlinear dynamics of many-body spin systems using quantum measurement and feedback [Mu\~noz-Arias et al., Phys. Rev. Lett. 124, 110503 (2020)] to a broad class of many-body models…
We present an overview of our studies on the nonequilibrium dynamics of quantum systems that have many interacting particles. Our emphasis is on systems that show strong level repulsion, referred to as chaotic systems. We discuss how full…
Data-driven modeling of human motions is ubiquitous in computer graphics and computer vision applications, such as synthesizing realistic motions or recognizing actions. Recent research has shown that such problems can be approached by…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can adaptively support large repertoires of movements. We propose a new human-machine interface to simultaneously drive…
A new approach to the construction of difference schemes of any order for the many-body problem that preserves all its algebraic integrals is proposed. We introduced additional variables, namely, distances and reciprocal distances between…
Understanding the collective behavior of a quantum many-body system, a system composed of a large number of interacting microscopic degrees of freedom, is a key aspect in many areas of contemporary physics. However, as a direct consequence…
In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…