相关论文: Energy-conserving intermittent-contact motion in c…

Understanding the dynamics of two inertial bodies coupled via a friction interface is essential for a wide range of systems and motion control applications. Coupling terms within the dynamics of an inertial pair connected via a passive…

We study a three-dimensional articulated rigid-body biped model that possesses zero cost of transport walking gaits. Energy losses are avoided due to the complete elimination of the foot-ground collisions by the concerted oscillatory motion…

Integrable dynamical systems play an important role in many areas of science, including accelerator and plasma physics. An integrable dynamical system with $n$ degrees of freedom (DOF) possesses $n$ nontrivial integrals of motion, and can…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

We propose in this paper a minimal speed-based pedestrian model for which particle dynamics are intrinsically collision-free. The speed model is an optimal velocity function depending on the agent length (i.e.\ particle diameter), maximum…

This work addresses non-classically damped coupled oscillators with closely spaced modes focusing on the physics of modal interactions. Considering the simplest representative example in the form of an impulsively excited…

A study of the non linear modes of a two degree of freedom mechanical system with bilateral elastic stop is considered. The issue related to the non-smoothness of the impact force is handled through a regularization technique. In order to…

We investigate the old problem of the fast relaxation of collisionless $N$-body systems which are collapsing or perturbed, emphasizing the importance of (non-collisional) discreteness effects. We integrate orbit ensembles in fixed external…

This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…

For a one-dimensional motion, a constant of motion for non autonomous an linear system (position and velocity) is given from the constant of motion associated to its autonomous system. This approach is used in the study of the harmonic…

The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…

We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…

Dynamic fragmentation simulations are essential for predicting material response at high strain rates, yet explicit dynamic simulations that combine an extrinsic cohesive-zone model (CZM) with penalty-based contact often exhibit severe…

While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…

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…

We study a two-dimensional gas of inelastic smooth hard dimers. Since the collisions between dimers are dissipative, being characterized by a coefficient of restitution $\alpha<1$, and no external driving force is present, the energy of the…

Nonlinear contact dynamics are widely regarded as intrinsically nonlinear systems whose behaviour depends strongly on geometry and impact conditions. Here we show that any one-dimensional conservative contact system satisfying monotone…

A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…

This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…

We consider two linearly coupled masses, where one mass can have inelastic impacts with a fixed, rigid stop. This leads to the study of a two degree of freedom, piecewise linear, frictionless, unforced, constrained mechanical system. The…