Related papers: An Overconstrained Vertical Darboux Mechanism
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
Using a combination of theory, experiment, and simulation, we revisit the dynamics of two coupled metronomes on a moving platform. Our experiments show that the platform's motion is damped by a dry friction force of Coulomb type, not the…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
We study topological mechanics in two-dimensional quasicrystalline parallelogram tilings. Topological mechanics has been studied intensively in periodic lattices in the past a few years, leading to the discovery of topologically protected…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-inspired robotic design. However, although…
We study the phenomenon of mode-locking in the context of quasiperiodically forced non-linear circle maps. As a main result, we show that under certain C1-open condition on the geometry of twist parameter families of such systems, the…
In this paper, we construct an effective model for the dynamics of an excluded-volume chain under confinement, by extending the formalism of Rouse modes. We make specific predictions about the behavior of the modes for a single polymer…
This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Linear and nonlinear resonant states can be restrictive: they exist at particular discrete states in frequency and/or elasticity, under particular (e.g., simple-harmonic) waveforms. In forced oscillators, this restrictiveness is an obstacle…
We investigate the dynamics of a mechanical resonator in which is embedded an ensemble of two-level systems interacting with an optical cavity field. We show that this hybrid approach to optomechanics allows for enhanced effective…
Natural materials often feature a combination of soft and stiff phases, arranged to achieve excellent mechanical properties, such as high strength and toughness. Many natural materials have even independently evolved to have similar…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
The paper presents an optimal synthesis of overconstrained linkages, based on the factorization of rational curves (representing one parametric motions) contained in Study's quadric. The group of Euclidean displacements is embedded in a…
We study a Lorentz invariant pairing mechanism that arises when two relativistic spin-1/2 fermions are subjected to a Dirac string coupling. In the weak coupling regime, we find remarkable analogies between this relativistic bound system…
We present a method to construct superintegrable $n$-component Lotka-Volterra systems with $3n-2$ parameters. We apply the method to Lotka-Volterra systems with $n$ components for $1 < n < 6$, and present several $n$-dimensional…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
Although pathway-specific kinetic theories are fundamentally important to describe and under- stand reversible polymerisation kinetics, they come in principle at a cost of having a large number of system-specific parameters. Here, we…
We investigate an intra-cavity coupled down-conversion scheme to generate quadripartite entanglement using concurrently resonant nonlinearities. We verify that quadripartite entanglement is present in this system by calculating the output…
We construct linear and quadratic Darboux matrices compatible with the reduction group of the Lax operator for each of the seven known non-Abelian derivative nonlinear Schr\"odinger equations that admit Lax representations. The…