Related papers: An inverted pendulum with a springy control as a m…
We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model to walk over rough and challenging terrains. The high-level philosophy is the decoupling of the controls of the vertical and horizontal…
The classic simple pendulum is a device which works as a simple harmonic oscillator (S.H.M.) only approximately. The time period remains fixed as long as the amplitude is kept sufficiently small. This limitation makes it unsatisfactory…
This study shows that typical pendulum dynamics is far from the simple equation of motion presented in textbooks. A reasonably complete damping model must use nonlinear terms in addition to the common linear viscous expression. In some…
The thermodynamic uncertainty relation expresses a seemingly universal trade-off between the cost for driving an autonomous system and precision in any output observable. It has so far been proven for discrete systems and for overdamped…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
A simple model is proposed for the buckling and coiling instability of a viscous "fluid rope" falling on a plane. By regarding a fluid rope as a one-dimensional flow, this model accounts for only the axial and shared viscous forces. Our…
A unified, consistent and simple view of the Faraday law of induction is presented, which consists of two points: discriminating the lab- from the rest-frame electric field and understanding it is the impossibility for both fields to vanish…
Motor control requires sensory feedback, and the nature of this feedback has implications for the tasks of the central nervous system (CNS): for an approximately linear mechanical system (e.g., a freely standing person, a rider on a…
Robust control theory studies the effect of noise, disturbances, and other uncertainty on system performance. Despite growing recognition across science and engineering that robustness and efficiency tradeoffs dominate the evolution and…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
A disordered spin model suitable for studying inverse freezing in fragile glass-forming systems is introduced. The model is a microscopic realization of the ``random-first order'' scenario in which the glass transition can be either…
Damped-driven systems are ubiquitous in science, however the damping and driving mechanisms are often quite convoluted. This manuscript presents an experimental and theoretical investigation of a fluidic droplet on a vertically vibrating…
A Newton's cradle is a device that demonstrates conservation of momentum using a series of identical colliding pendula. Despite being a famous example that demonstrates the concept of momentum conservation, extensive analysis of the system…
We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize…
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by…
In this paper, we discuss the dynamic modeling of fluid-filled straw-like elements consisting of serially interconnected elastic frusta with both axisymmetric and antisymmetric degrees of freedom, assuming planar motion. Under appropriate…
A long-standing argument in model-based control of locomotion is about the level of complexity that a model should have to define a behavior such as running. Even though goldilocks model based on biomechanical evidence is often sought, it…
Achieving closed-loop control over wireless is crucial in realizing the vision of Industry 4.0 and beyond. This demonstration shows the viability of closed-loop control over wireless through a high-performance wireless solution. The…
The theory of controlled mechanical systems of [6, 3, 4] is extended to the case of ideal incompressible fluids consisting of charged particles in the presence of an external magnetic field. The resulting control is of feedback type and…
A novel method for stability and instability study of autonomous dynamical systems using the flow and divergence of the vector field is proposed. A relation between the method of Lyapunov functions and the proposed method is established.…