Related papers: Galilean Symmetry in Robotics
We review (non-supersymmetric) gauge theories of four-dimensional space-time symmetries and their quadratic action. The only true gauge theory of such a symmetry (with a physical gauge boson) that has an exact geometric interpretation,…
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…
We discuss a new formalism for constructing a non-relativistic (NR) theory in curved background. Named as galilean gauge theory, it is based on gauging the global galilean symmetry. It provides a systematic algorithm for obtaining the…
Based on the Lie symmetry method, we investigate a Feynman-Kac formula for the classical geometric mean reversion process, which effectively describing the dynamics of short-term interest rates. The Lie algebra of infinitesimal symmetries…
This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…
This thesis presents a framework in which to explore kinematical symmetries beyond the standard Lorentzian case. This framework consists of an algebraic classification, a geometric classification, and a derivation of the geometric…
The general aim of this paper is to study which are the solvable Lie groups admitting an Einstein left invariant metric. The space N of all nilpotent Lie brackets on R^n parametrizes a set of (n+1)-dimensional rank-one solvmanifolds,…
Using a variational method, we exhibit a surprisingly simple periodic orbit for the newtonian problem of three equal masses in the plane. The orbit has zero angular momentum and a very rich symmetry pattern. Its most surprising feature is…
We explore the new physics phenomena of gravidynamics governed by the inhomogeneous spin gauge symmetry based on the gravitational quantum field theory. Such a gravidynamics enables us to derive the generalized Einstein equation and an…
Using the wave equation in d > or = 1 space dimensions it is illustrated how dynamical equations may be simultaneously Poincar\'e and Galileo covariant with respect to different sets of independent variables. This provides a method to…
We present a comprehensive study on discrete morphological symmetries of dynamical systems, which are commonly observed in biological and artificial locomoting systems, such as legged, swimming, and flying animals/robots/virtual characters.…
In gravity, breaking symmetry from a group G to a group H plays the role of describing geometry in relation to the geometry the homogeneous space G/H. The deep reason for this is Cartan's "method of equivalence," giving, in particular, an…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
In the two papers of this series, we initiate the development of a new approach to implementing the concept of symmetry in classical field theory, based on replacing Lie groups/algebras by Lie groupoids/algebroids, which are the appropriate…
The generalized Euler case (rigid body rotation over the fixed point) is discussed here: - the center of masses of non-symmetric rigid body is assumed to be located at the equatorial plane on axis Oy which is perpendicular to the main…
The fundamental interactions of nature, the electroweak and the quantum chromodynamics, are described in the Standard Model by the Gauge Theory under internal symmetries that maintain the invariance of the functional action. The fundamental…
We apply the converse of Noether's second theorem to the first-order $n$-dimensional Lovelock action, considering the frame rotation group as both $SO\left(1,n-1\right)$ or as $SO(n)$. As a result, we get the well-known invariance under…
We study free particle motion on homogeneous kinematical spacetimes of galilean type. The three well-known cases of Galilei and (A)dS--Galilei spacetimes are included in our analysis, but our focus will be on the previously unexplored…
Inhomogeneous quantum groups are shown to be an effective algebraic tool in the study of integrable systems and to provide solutions equivalent to the Bethe ansatz. The method is illustrated on the 1D Heisenberg ferromagnet whose symmetry…
The fundamental symmetries in gravity and gauge theories, formulated using differential forms, are gauge transformations and diffeomorphisms. These symmetries act in distinct ways on different dynamical fields. Yet, the commutator of these…