Related papers: Galilean Symmetry in Robotics
Classical mechanics unfolds within absolute time and Euclidean space, yet our knowledge of where events occur, when they occur, and how motion evolves is inherently uncertain. The special Galilean group provides a natural setting for…
The Galilei group has been taken as the fundamental symmetry for 'nonrelativistic' physics, quantum or classical. Our fully group theoretical formulation approach to the quantum theory asks for some adjustments. We present a sketch of the…
The Galilean symmetry and the Poincare symmetry are usually taken as the fundamental (relativity) symmetries for `nonrelativistic' and `relativistic' physics, respectively, quantum or classical. Our fully group theoretical formulation…
This work presents a group-theoretic interpretation of the historical evolution of mechanics, proposing that each fundamental theory of motion corresponds to a distinct geometry in the sense of Felix Klein. The character of each geometry is…
Riemannian geometry is a mathematical field which has been the cornerstone of revolutionary scientific discoveries such as the theory of general relativity. Despite early uses in robot design and recent applications for exploiting data with…
Closed systems in Newtonian mechanics obey the principle of Galilean relativity. However, the usual Lagrangian for Newtonian mechanics, formed from the difference of kinetic and potential energies, is not invariant under the full group of…
To describe the ``slow'' motions of n interacting mass points, we give the most general 4-d non-instantaneous, non-particle symmetric Galilei-invariant variational principle. It involves two-body invariants constructed from particle…
Symmetry manifests itself in legged locomotion in a variety of ways. No matter where a legged system begins to move periodically, the torso and limbs coordinate with each other's movements in a similar manner. Also, in many gaits observed…
We propose the implementation of Galileo group symmetry operations or, in general, linear coordinate transformations, in a quantum simulator. With an appropriate encoding, unitary gates applied to our quantum system give rise to Galilean…
A formalism describing the dynamics of classical and quantum systems from a group theoretical point of view is presented. We apply it to the simple example of the classical free particle. The Galileo group $G$ is the symmetry group of the…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
A demonstration is given that the simplest model of quantum mechanics formulated on a plane non-commutative geometry endowed with a Galilean symmetry group in which the position and linear momentum-variable commutators are first order in…
In this paper we show that Galilean group is a matrix Lie group and find its structure. Then provide the invariants of special Galilean geometry of motions, by Olver's method of moving coframes, we also find the corresponding…
Several new ideas related to Special and General Relativity are proposed. The black-box method is used for the synchronization of the clocks and the space axes between two inertial systems or two accelerated systems and for the derivation…
In classical mechanics, a procedure for simultaneous synchronization in all inertial frames is consistent with the Galilean transformation. However, if one attempts to achieve such a synchronization utilizing light signals, he will be…
Riemann's principle "force equals geometry" provided the basis for Einstein's General Relativity - the geometric theory of gravitation. In this paper, we follow this principle to derive the dynamics for any static, conservative force. The…
The special Galilean group, usually denoted SGal(3), is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and the group of extended poses. We briefly describe SGal(3) and…
We show that there is a special choice of parameters for which the galileon theory is invariant under an enhanced shift symmetry whose non-linear part is quadratic in the coordinates. This symmetry fixes the theory to be equivalent to one…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
With a more relaxed perspective on what constitutes a relativity symmetry mathematically, we revisit the notion of possible relativity or kinematic symmetries mutually connected through Lie algebra contractions. We focus on the contractions…