Related papers: Modelling the non-linear dynamics of the looping p…
In the course of basic physics, more precisely the course of classical mechanics should be understood as clearly as possible the subject of rotational dynamics for students of science and engineering, to have clarity with the issues…
Flutter instability in elastic structures subject to follower load, the most important cases being the famous Beck's and Pfluger's columns (two elastic rods in a cantilever configuration, with an additional concentrated mass at the end of…
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism - an underactuated system with rolling constraints - popularized commercially as the Segway, and thereby…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
Pendulums are simple mechanical systems that have been studied for centuries and exhibit many aspects of modern dynamical systems theory. In particular, the double pendulum is a prototypical chaotic system that is frequently used to…
We present an experimental setup to demonstrate normal modes and symmetry breaking in a two-dimensional pendulum. In our experiment we have used two modes of a single oscillator to demonstrate normal modes, as opposed to two single…
The pendulum, in the presence of linear dissipation and a constant torque, is a non-integrable, nonlinear differential equation. In this paper, using the idea of rotated vector fields, derives the relation between the applied force $\beta$…
A high fidelity model is developed for an elastic string pendulum, one end of which is attached to a rigid body while the other end is attached to an inertially fixed reel mechanism which allows the unstretched length of the string to be…
In this work, we analyzed theoretically and experimentally the nonlinear dynamics of a magnetic pendulum driven by a coil-magnet interaction. The force between the magnetic elements and the resulting torque on the pendulum are derived using…
A physical pendulum with variable point of suspension (and, as an outcome, variable inertia moment) is experimentally analysed. In particular, the period of the small oscillations as a function of position of the suspension point is…
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
We present an analysis of the motion of a simple torsion pendulum and we describe how, with straightforward extensions to the usual basic dynamical model, we succeed in explaining some unexpected features we found in our data, like the…
This paper is devoted to a detailed investigation of the perturbed pendulum-like motions of a heavy rigid body about a fixed point. Canonical variables that allow one to simplify the analysis of homoclinic and heteroclinic orbits are…
The Atwood Machine, a classic apparatus in physics education, has historically been pivotal in demonstrating Newtonian mechanics, specifically Newton's Second Law. This study introduces an innovative adaptation, the circular Atwood machine,…
The turbulent transport of angular momentum plays an important role in many astrophysical objects, but its modelization is still far from satisfactory. We discuss here what can be learned from laboratory experiments. We analyze the results…
If one wants to explore the properties of a dynamical system systematically one has to be able to track equilibria and periodic orbits regardless of their stability. If the dynamical system is a controllable experiment then one approach is…
We analyzed theoretically the nonlinear dynamics of a strong magnetic pendulum consisting of a cylindrical neodymium magnet swinging into a metal plane. The heavy damping of oscillations of the pendulum is caused by eddy currents induced in…