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This paper investigates the dynamics and integrability of the double spring pendulum, which has great importance in studying nonlinear dynamics, chaos, and bifurcations. Being a Hamiltonian system with three degrees of freedom, its analysis…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
This paper investigates the potential for stabilizing an inverted pendulum without electric devices, using gravitational potential energy. We propose a wheeled mechanism on a slope, specifically, a wheeled double pendulum, whose second…
Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In…
We consider the statistical properties of a non-falling trajectory in the Whitney problem of an inverted pendulum excited by an external force. In the case when the external force is white noise, we recently found the instantaneous…
The problem of a disc or cylinder initially rolling with slipping on a surface and subsequently transitioning to rolling without slipping is often cited in textbooks. The following experiment serves to clearly demonstrate the transition…
An elastic rod model for semi-flexible polymers is presented. Theory for a continuum rod is reviewed, and it is shown that a popular discretised model used in numerical simulations gives the correct continuum limit. Correlation functions…
In this paper we show that there are applications that transform the movement of a pendulum into movements in $\mathbb{R}^3$. This can be done using Euler top system of differential equations. On the constant level surfaces, Euler top…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept…
A mathematical model is derived for the dynamics of a cylinder, or wheel, rolling over a thin viscous film. The model combines the Reynolds lubrication equation for the fluid with an equation of motion for the wheel. Two asymptotic limits…
The object of the numerical study is the travel of pendulum waves in a blocky medium under nonstationary impact of deep-seated charge blasting on the surface of the expansion chamber. The blocky model is simulated by a two-dimensional…
This paper studies the dynamics and integrability of a variable-length coupled pendulum system. The complexity of the model is presented by joining various numerical methods, such as the Poincar\'e cross-sections, phase-parametric diagrams,…
The small angle approximation often fails to explain experimental data, does not even predict if a plane pendulum's period increases or decreases with increasing amplitude. We make a perturbation ansatz for the Conserved Energy Surfaces of…
Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g…
The motion of a bead on a rotating circular hoop is investigated using elementary calculus and simple symmetry arguments. The peculiar trajectories of the bead at different speeds of rotation of the hoop are presented. Phase portraits and…
We present a new model, and the validating experiments, that unveil the rich physics behind the flight of a conductive ring in the Thomson experiment, a physics veiled by the fast thrust that impels the ring. We uncover interesting features…
This paper presents an approach to damp out the oscillatory motion of the pendulum-like hanging platform on which a robotic manipulator is mounted. To this end, moving masses were installed on top of the platform. In this paper, asymptotic…
A simple approximation formula is derived here for the dependence of the period of a simple pendulum on amplitude that only requires a pocket calculator and furnishes an error of less than 0.25% with respect to the exact period. It is shown…
We provide an exact infinite power series solution that describes the trajectory of a nonlinear simple pendulum undergoing librating and rotating motion for all time. Although the series coefficients were previously given in [V. Fair\'en,…