Related papers: Modelling the non-linear dynamics of the looping p…
An interesting recent paper in Nature explores a new method to construct solid bodies rolling along given curves on an inclined plane, based on the Gauss Theorem. The present article complements those examinations with rigorous existence…
An inverted planar pendulum with horizontally moving pivot point is considered. It is assumed that the law of motion of the pivot point is given and the pendulum is moving in the presence of dry friction. Sufficient conditions for the…
The behavior of a stationary inverted point mass pendulum pivoted at its lower end in a gravitational potential is studied under the influence of statistical fluctuations. It is shown using purely classical equations that the pendulum…
Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is…
The problem of a rigid disk rolling down a ramp is a classic problem given to students in introductory mechanics courses. In contrast, systematic studies on the rolling behavior of an ellipse have only recently emerged. Unlike a rolling…
Standard problem of one-degree-of-freedom mechanical systems with Coulomb friction is revised for a relay-based feedback stabilization. It is recalled that such a system with Coulomb friction is asymptotically stabilizable via a relay-based…
Context: Rotating anisotropic convection generates differential rotation in stellar convection zones. Aims: The main aim is to compute the non-diffusive contribution ($\Lambda$ effect) to angular momentum transport, described by Reynolds…
We study the rolling motion of a small solid sphere on a surface patterned rubber substrate in an external field with and without a noise. In the absence of the noise, the ball does not move below a threshold force above which it…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
We explore analytically the quantum dynamics of a point mass pendulum using the Heisenberg equation of motion. Choosing as variables the mean position of the pendulum, a suitably defined generalised variance and a generalised skewness, we…
Tracking on the rotation group is a key component of many modern systems for estimation of the motion of rigid bodies. To address this problem, here we describe a Bayesian algorithm that relies on directional measurements for tracking on…
Fluid-based locomotion at low Reynolds number is subject to the constraints of the scallop theorem, which dictate that body kinematics identical under a time-reversal symmetry (in particular, those with a single degree of freedom) cannot…
We investigate the dynamics of the pendulum suspended on the forced Duffing oscillator. The detailed bifurcation analysis in two parameter space (amplitude and frequency of excitation) which presents both oscillating and rotating periodic…
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is…
In the area of bipedal locomotion, the spring loaded inverted pendulum (SLIP) model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present a novel analysis of the mathematical…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Recently, a novel magnetic levitation phenomenon involving two magnetically equivalent neodymium permanent magnets has been reported. In this work, we propose that this system functions as a scaled-up analog of the Levitron. The key…
Kink oscillations in coronal loops have been extensively studied for their potential contributions to coronal heating and their role in plasma diagnostics through coronal seismology. A key focus is the strong damping of large-amplitude kink…
In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in…
(abridged) Context: Solar-like differential rotation is characterized by a rapidly rotating equator and slower poles. However, theoretical models and numerical simulations can result in a slower equator and faster poles when the rotation is…