Related papers: An Overconstrained Vertical Darboux Mechanism
We investigate the dynamical complexity of Cournot oligopoly dynamics of three firms by using the qualitative methods of dynamical systems to study the phase structure of this model. The phase space is organized with one-dimensional and…
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…
Off-line robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that…
We explore higher order topological superconductivity in an artificial Dirac material with intrinsic spin-orbit coupling, which is a doped $\mathbb{Z}_2$ topological insulator in the normal state. A mechanism for superconductivity due to…
Metamaterials are a promising platform for a range of applications, from shock absorption to mechanical computing. These functionalities typically rely on floppy modes or mechanically frustrated loops, both of which are difficult to design.…
When we develop wearable assistive devices comfort and support are two main issues needed to be considered. In conventional design approaches, the degree of freedom of wearer's joint movement tends to be oversimplified. Accordingly, the…
A novel perspective on the design of robust model predictive control (MPC) methods is presented, whereby closed-loop constraint satisfaction is ensured using recursive feasibility of the MPC optimization. Necessary and sufficient conditions…
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control scheme which…
In this paper, we introduce a method that allows to produce necessary conditions on the Denavit--Hartenberg parameters for the mobility of a closed linkage with six rotational joints. We use it to prove that the genus of the configuration…
Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire…
In the first part of the paper we show that the constraining potentials introduced to mimic entanglement effects in Edwards' tube model and Flory's constrained junction model are diagonal in the generalized Rouse modes of the corresponding…
The use of effective Darboux transformations for general classes Lax pairs is discussed. The general construction of ``binary'' Darboux transformations preserving certain properties of the operator, such as self-adjointness, is given. The…
This Proceeding presents the method that allows us to get the Gyro-Kinetic Approximation of the Dynamical System satisfied by the trajectory of a particle submitted to a Strong Magnetic Field. The goal of the method is to build a change of…
Orthogonally assembled double-layered corrugated (OADLC) mechanisms are a class of foldable structures that harness origami-inspired methods to enhance the structural stiffness of resulting devices; these mechanisms have extensive…
Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1…
Recently there has been progress in the understanding of the confinement mechanism in Landau gauge QCD. The emerging dynamical description in terms of the underlying gauge dependent degrees of freedom goes beyond the static confinement in…
In this work, we explore the rogue wave patterns in the coupled Fokas-Lenells equation by using the Darboux transformation. We demonstrate that when one of the internal parameters is large enough, the general high-order rogue wave solutions…
While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class of overconstrained…
Multi-step pathways, constituted of a sequence of reconfigurations, are central to a wide variety of natural and man-made systems. Such pathways autonomously execute in self-guided processes such as protein folding and self-assembly, but…
Darboux transformations in one independent variable have found numerous applications in various field of mathematics and physics. In this paper we show that the extension of these transformations to two dimensions can be used to decouple…