Related papers: Qualitative Study of a Robot Arm as a Hamiltonian …
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
We study the dynamics of a rigid body in a central gravitational field modeled as a Hamiltonian system with continuous rotational symmetries following the geometrical framework of Wang et al. Novelties of our work are the use the Reduced…
This work studies the symmetries, the associated momentum map, and relative equilibria of a mechanical system consisting of a small axisymmetric magnetic body-dipole in an also axisymmetric external magnetic field that additionally exhibits…
Standandard Hamiltonian mechanics in its homogeneous formulation is applied to the study of discontinuities representing rapid changes of Hamiltonians. Different formulations of Hamiltonian mechanics are reviewed. An original representation…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…
Pendulums are simple mechanical systems that have been studied for centuries and exhibit many aspects of modern dynamical systems theory. In particular, the double pendulum is a prototypical chaotic system that is frequently used to…
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
The motion of a driven planar pendulum with vertically periodically oscillating point of suspension and under the action of an additional constant torque is investigated. We study the influence of the torque strength on the transition to…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
The presence of two compatible Hamiltonian structures is known to be one of the main, and the most natural, mechanisms of integrability. For every pair of Hamiltonian structures, there are associated conservation laws (first integrals).…
We present the results of linear stability of a damped coplanar double pendulum and its non-linear motion, when the point of suspension is vibrated sinusoidally in the vertical direction with amplitude $a$ and frequency $\omega $. A double…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
This paper considers a nonlinear spherical pendulum whose suspension point performs high-frequency spatial vibrations. The dynamics of this pendulum can be described by averaging its Hamiltonian over phases of vibrations. Rotationally…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
The stability of the orbital motion of two long cylindrical magnets interacting exclusively with magnetic forces is described. To carry out analytical studies a model of magnetically interacting symmetric tops [1] is used. The model was…
This work deals with planar dynamical systems with and without noise. In the first part, we seek to gain a refined understanding of such systems by studying their differential-geometric transformation properties under an arbitrary smooth…
We apply methods of dynamical systems to study the behaviour of the Randall-Sundrum models. We determine evolutionary paths for all possible initial conditions in a 2-dimensional phase space and we investigate the set of accelerated models.…
A double inverted pendulum plant has been in the domain of control researchers as an established model for studies on stability. The stability of such as a system taking the linearized plant dynamics has yielded satisfactory results by many…