Related papers: A Geometric Task-Space Port-Hamiltonian Formulatio…
We introduce a way to express compact quantum electrodynamics with dynamical matter on two- and three-dimensional spatial lattices in a gauge redundancy-free manner while preserving translational invariance. By transforming to a rotating…
This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike…
A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A…
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric…
A non-Hermitian operator $H$ defined in a Hilbert space with inner product $\langle\cdot|\cdot\rangle$ may serve as the Hamiltonian for a unitary quantum system, if it is $\eta$-pseudo-Hermitian for a metric operator (positive-definite…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…
This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely…
In space-adiabatic approaches one can approximate Hamiltonians that are modulated slowly in space by phase-space functions that depend on position and momentum. In this paper, we establish a rigorous relation between this approach and the…
In this paper we present a novel approach to the geometric formulation of solid and fluid mechanics within the port-Hamiltonian framework, which extends the standard Hamiltonian formulation to non-conservative and open dynamical systems.…
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators,…
Robotic systems with redundant degrees of freedom can achieve the same task outcome using multiple configurations, resulting in solution sets that form manifolds in the configuration space. Existing approaches typically exploit such…
The Half-Transform Ansatz (HTA) is a proposed method to solve hyper-geometric equations in Quantum Phase Space by transforming a differential operator to an algebraic variable and including a specific exponential factor in the wave…
In this work, we propose a geometric framework for analyzing mechanical manipulation, for instance, by a robotic agent. Under the assumption of conservative forces and quasi-static manipulation, we use energy methods to derive a metric. In…
We compute modular Hamiltonians for excited states obtained by perturbing the vacuum with a unitary operator. We use operator methods and work to first order in the strength of the perturbation. For the most part we divide space in half and…
The focus of this work is a correspondence between the Hilbert space operators on one hand, and doubly periodic generalized functions on the other. The linear map that implements it, referred to as the Q-transform, enables a direct…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…
Port-based network modeling of multi-physics problems leads naturally to a formulation as port-Hamiltonian differential-algebraic system. In this way, the physical properties are directly encoded in the structure of the model. Since the…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Port-Hamiltonian systems provide a highly-structured framework for modeling of physical systems. By definition, they encode a balance equation relating energy changes to supplied and dissipated energy. Capturing this energy balance in…