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The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon…
We consider $\mathbb{R}^3$ as a homogeneous manifold for the action of the motion group given by rotations and translations. For an arbitrary $\tau\in \widehat{SO(3)}$, let $E_\tau$ be the homogeneous vector bundle over $\mathbb{R}^3$…
In this paper we develope the main ideas of the quantized version of affinely-rigid (homogeneously deformable) motion. We base our consideration on the usual Schr\"odinger formulation of quantum mechanics in the configuration manifold which…
We investigate four-dimensional Heterotic solitons, defined as a particular class of solutions of the equations of motion of Heterotic supergravity on a four-manifold $M$. Heterotic solitons depend on a parameter $\kappa$ and consist of a…
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…
We consider a family of Riemannian manifolds M such that for each unit speed geodesic gamma of M there exists a distinguished bijective correspondence L between infinitesimal translations along gamma and infinitesimal rotations around it.…
We study the general properties of the moduli spaces of SO(3) vortices over orbifold Riemann surfaces and use these to characterize the solutions of the SO(3) monopole equations on Seifert manifolds following in the footsteps of Mrowka,…
The group E(3)=SO(3) *s T(3), that is the homogeneous subgroup of the Galilei group parameterized by rotation angles and velocities, defines the continuous group of transformations between the frames of inertial particles in Newtonian…
For any unitary representation $(\pi,\mathcal{H})$ of $G=SL(n,\RR)$, $n\geq 3$ without non-trivial $G$-invariant vectors, we study smooth solutions of the cohomological equation $\mathfrak{u}f=g$ where $\mathfrak{u}$ is a vector in the root…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
This paper showed that Poisson brackets in quaternion variables can be obtained directly from canonical Poisson brackets on cotangent bundle of $SE(3)$ (or $SO(3)$) endowed by canonical symplectic geometry. Quaternion parameters in our case…
Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…
The article formulates the classical three-body problem in conformal-Euclidean space (Riemannian manifold), and its equivalence to the Newton three-body problem is mathematically rigorously proved. It is shown that a curved space with a…
In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…
We work in the smooth category. If there are knotted embeddings S^n\to R^m, which often happens for 2m<3n+4, then no concrete complete description of embeddings of n-manifolds into R^m up to isotopy was known, except for disjoint unions of…
An approximate equation of motion is proposed for screw and edge dislocations, which accounts for retardation and for relativistic effects in the subsonic range. Good quantitative agreement is found, in accelerated or in decelerated…
The equations for strands of rigid charge configurations interacting nonlocally are formulated on the special Euclidean group, SE(3), which naturally generates helical conformations. Helical stationary shapes are found by minimizing the…
We introduce a compactification of the group of rigid motions in 3-space derived from the Study model for this group. We use this compactifi-cation in robot kinematics, by considering the boundary of the configuration space of a robot. We…
In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…
Building on ideas introduced by Eshelby in 1953, and on recent dynamical extensions of the Peierls model for screw and edge dislocations, an approximate equation of motion (EoM) to govern non-uniform dislocation motion under time-varying…