Related papers: A Geometric Task-Space Port-Hamiltonian Formulatio…
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
Motivated by earlier numerical evidence for a percolation-like transition in space-time jamming, we present an analytic description of the transient dynamics of the deterministic traffic model elementary cellular automaton rule 184…
This is the second and final article on the tutorial on manipulator differential kinematics. In Part 1, we described a method of modelling kinematics using the elementary transform sequence (ETS), before formulating forward kinematics and…
This article presents a systematic methodology for modeling a class of flexible multidimensional mechanical structures defined by linear elastic relations that directly allows to obtain their infinite-dimensional port-Hamiltonian…
This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a…
The recently introduced by us two- and three-parameter ($p,q$)- and ($p,q,\mu$)-deformed extensions of the Heisenberg algebra were explored under the condition of their direct link with the respective (nonstandard) deformed quantum…
In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment.…
The practical use of non-Hermitian (i.e., typically, PT-symmetric) phenomenological quantum Hamiltonians is discussed as requiring an explicit reconstruction of the {\em ad hoc} Hilbert-space metrics which would render the time-evolution…
The problem of the determination of the Hilbert-space metric which renders a given Hamiltonian $H$ self-adjoint is addressed from the point of view of applicability of computer-assisted algebraic manipulations. An exactly solvable example…
We provide a fully nonlinear port-Hamiltonian formulation for discrete elastodynamical systems as well as a structure-preserving time discretization. The governing equations are obtained in a variational manner and represent index-1…
Invariants at arbitrary and fixed energy (strongly and weakly conserved quantities) for 2-dimensional Hamiltonian systems are treated in a unified way. This is achieved by utilizing the Jacobi metric geometrization of the dynamics. Using…
We present a systematic perturbative construction of the most general metric operator (and positive-definite inner product) for quasi-Hermitian Hamiltonians of the standard form, H= p^2/2 + v(x), in one dimension. We show that this problem…
It has been observed earlier that, in principle, it is possible to obtain a quantum mechanical interpretation of higher order quantum cosmological models in the spatially homogeneous and isotropic background, if auxiliary variable required…
The diagonalization of the metrical and canonical Hamilton operators of a scalar field with an arbitrary coupling, with a curvature in N-dimensional homogeneous isotropic space is considered in this paper. The energy spectrum of the…
Building upon Lagrangian mechanics on Wess's $q$-commutative spaces, we derive the $q$-deformed Hamiltonian dynamics as formulated by Lavagno et al. (2006). We then develop a computationally tractable scheme and propose a novel Hamiltonian…
Noncommutivity of position and momentum makes it difficult to formulate the unambiguous structure of the kinetic part of Hamiltonian for the position-dependent effective mass (PDEM). Various existing proposals of writing the viable kinetic…
Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…