相关论文: Input Decoupling of Lagrangian Systems via Coordin…
Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…
The dynamic complexity of robots and mechatronic systems often pertains to the hybrid nature of dynamics, where governing equations consist of heterogenous equations that are switched depending on the state of the system. Legged robots and…
We propose a generalization of Heisenberg picture quantum mechanics in which a Lagrangian and Hamiltonian dynamics is formulated directly for dynamical systems on a manifold with non--commuting coordinates, which act as operators on an…
In this paper, we consider an arbitrary number of joints and their arbitrary joint locations along the center line of a displacement-actuated continuum robot. To achieve this, we revisit the derivation of the Clarke transform leading to a…
This paper presents a novel Koopman operator formulation for Euler Lagrangian dynamics that employs an implicit generalized momentum-based state space representation, which decouples a known linear actuation channel from state dependent…
The Euler-Lagrange equations (EL) are very important in the theoretical description of several physical systems. In this work we have used a simplified form of EL to study one-dimensional motions under the action of a constant force. From…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
This article introduces the Clarke transform and Clarke coordinates, which present a solution to the disengagement of an arbitrary number of coupled displacement actuation of continuum and soft robots. The Clarke transform utilizes the…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
Reasoning about the physical world requires models that are endowed with the right inductive biases to learn the underlying dynamics. Recent works improve generalization for predicting trajectories by learning the Hamiltonian or Lagrangian…
We apply the method of controlled Lagrangians by potential shaping to Euler--Poincar\'e mechanical systems with broken symmetry. We assume that the configuration space is a general semidirect product Lie group $\mathsf{G} \ltimes V$ with a…
We consider a mechanical system which is controlled by means of moving constraints. Namely, we assume that some of the coordinates can be directly assigned as functions of time by means of frictionless constraints. This leads to a system of…
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
Starting with the first-order singular Lagrangian, the problem of the quantization of a dynamical system constrained to a submanifold embedded in the higher-dimensional Euclidean space is investigated within the framework of operatorial…
In this short note we show that any action for $N$ interacting particles can be made invariant under gauged Galilean transformations. While resulting Lagrangian is generally very complicated its Hamiltonian has simple form with first class…
We have recently presented an extension of the standard variational calculus to include the presence of deformed derivatives in the Lagrangian of a system of particles and in the Lagrangian density of field-theoretic models. Classical…
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing such motion strategies to precision in soft deformable robots…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
In this letter, we demonstrate that previously proposed improved state parameterizations for soft and continuum robots are specific cases of Clarke coordinates. By explicitly deriving these improved parameterizations from a generalized…
A general non-local point transformation for position-dependent mass Lagrangians and their mapping into a "constant unit-mass" Lagrangians in the generalized coordinates is introduced. The conditions on the invariance of the related…