Related papers: Empirically-based Multibody Dynamics for Modeling …
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
This paper presents a novel approach to numerically describe the interactions between rigid bodies, with a special focus on robotic grasping. Some of the more common approaches used to address such issues rely on satisfaction of a set of…
Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…
Recent advances in both theoretical and computational methods have enabled large-scale, precision calculations of the properties of atomic nuclei. With the growing complexity of modern nuclear theory, however, also comes the need for novel…
The metriplectic formalism couples Poisson brackets of the Hamiltonian description with metric brackets for describing systems with both Hamiltonian and dissipative components. The construction builds in asymptotic convergence to a…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
The powerful molecular dynamics (MD) simulation is basically based on a picture that the atoms experience classical-like trajectories under the exertion of classical force field determined by the quantum mechanically solved electronic…
When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved…
Dynamics in correlated quantum matter is a hard problem, as its exact solution generally involves a computational effort that grows exponentially with the number of constituents. While a remarkable progress has been witnessed in recent…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
The brain has evolved to effectively control the body, and in order to understand the relationship we need to model the sensorimotor transformations underlying embodied control. As part of a coordinated effort, we are developing a…
We derive a mathematical model for the motion of several insulating rigid bodies through an electrically conducting fluid. Starting from a universal model describing this phenomenon in generality, we elaborate (simplifying) physical…
The development of accurate constitutive models for materials that undergo path-dependent processes continues to be a complex challenge in computational solid mechanics. Challenges arise both in considering the appropriate model assumptions…
Due to the complexity of the human body and its neuromuscular stabilization, it has been challenging to efficiently and accurately predict human motion and capture posture while being driven. Existing simple models of the seated human body…
The human foot serves as the critical interface between the body and environment during locomotion. Existing musculoskeletal models typically oversimplify foot-ground contact mechanics, limiting their ability to accurately simulate human…
Modeling complex physical dynamics is a fundamental task in science and engineering. Traditional physics-based models are sample efficient, and interpretable but often rely on rigid assumptions. Furthermore, direct numerical approximation…
We present an introductory review of nonergodic dynamics in interacting many-body quantum systems, focusing on the phenomenon of many-body localization (MBL). We describe aspects of MBL and summarize the evidence for a crossover from the…
The nuclear many-body problem for medium-mass systems is commonly addressed using wave-function expansion methods that build upon a second-quantized representation of many-body operators with respect to a chosen computational basis. While…
Molecular dynamics simulations use statistical mechanics at the atomistic scale to enable both the elucidation of fundamental mechanisms and the engineering of matter for desired tasks. The behavior of molecular systems at the microscale is…