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

In dynamics and vibrations, the concept of bandwidth for linear time-invariant systems is widely recognized as a measure of the dispersion of frequency content around resonance. Similarly, the time constant is associated with the rate of…

In this paper we introduce an abstract nonsmooth optimization problem and prove existence and uniqueness of its solution. We present a numerical scheme to approximate this solution. The theory is later applied to a sample static contact…

A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…

A main objective of topological photonics is the design of disorder-resilient optical devices. Many prospective applications would benefit from nonlinear effects, which not only are naturally present in real systems but also are needed for…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…

Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into…

We study a model of interacting run-and-tumble random walkers operating under mutual hardcore exclusion on a one-dimensional lattice with periodic boundary conditions. We incorporate a finite, Poisson-distributed, tumble duration so that a…

A unifying slipping and sticking frictional impact model for multibody systems in contact with a frictional surface is presented. It is shown that the model can lead to energetic consistency in both slip state and stick state upon imposing…

In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…

This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the contacts. To obtain physically consistent results, such a…

The local balance equations for the density, momentum, and energy of a dilute gas of elastic or inelastic hard spheres, strongly confined between two parallel hard plates are obtained. The starting point is a Boltzmann-like kinetic…

In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…

We study the dynamics of two bodies moving on elliptic Keplerian orbits around a fixed center of attraction and interacting only by means of elastic or inelastic collisions. We show that there exists a bounded invariant region: for suitable…

This paper is devoted to a study of time-dependent hemivariational inequality. We prove existence and uniqueness of its solution, provide fully discrete scheme and reformulate this scheme as a series of nonsmooth optimization problems. This…

This study investigates a detailed analytical and numerical investigation of a nonlinear two-degree-of-freedom (2DOF) mechanical oscillator subjected to parametric excitation, magnetic stiffness nonlinearities, and dry friction. The…

We study the non-equilibrium quench dynamics from free to hard-core one-dimensional bosons in the presence of a hard-wall confining potential. We characterise the density profile and the two-point fermionic correlation function in the…

We show that, near periodic orbits, a class of hybrid models can be reduced to or approximated by smooth continuous-time dynamical systems. Specifically, near an exponentially stable periodic orbit undergoing isolated transitions in a…

Simulations of interacting electrons and bosons out of equilibrium, starting from first principles and aiming at realistic multiscale scenarios, is a grand theoretical challenge. Here, using the formalism of nonequilibrium Green's functions…

Motivated by recent findings, we discuss the existence of a direct and robust mechanism providing discontinuous absorbing transitions in short range systems with single species, with no extra symmetries or conservation laws. We consider…