相关论文: Sub--Riemannian boundary value problems for Optima…
Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to utilize the existing nonzero net momentum (known as momentum…
We consider arbitrary-shaped microswimmers of spherical topology and propose a framework for expressing their slip velocity in terms of tangential basis functions defined on the boundary of the swimmer using the Helmholtz decomposition.…
We present an efficient solver for diffeomorphic image registration problems in the framework of Large Deformations Diffeomorphic Metric Mappings (LDDMM). We use an optimal control formulation, in which the velocity field of a hyperbolic…
In this paper the optimal transport and the metamorphosis perspectives are combined. For a pair of given input images geodesic paths in the space of images are defined as minimizers of a resulting path energy. To this end, the underlying…
The three-body general problem is formulated as a problem of geodesic trajectories flows on the Riemannian manifold. It is proved that a curved space with local coordinate system allows to detect new hidden symmetries of the internal motion…
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics,…
In this work, we solve the generalized Matsumoto's slope-of-a-mountain problem by means of Riemann-Finsler geometry, making close links with the Zermelo navigation problem. The time-minimizing navigation under gravity is analyzed in the…
Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories-a process that is straightforward for car-like robots with fixed, unbounded actuation inputs but more…
The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant…
Empirical observations indicate striking similarities among locomotion in terrestrial animals, birds, and fish, but unifying physical grounds are lacking. When applied to efficient locomotion, the analytical mechanics principle of minimum…
Both legged locomotion and slithering motions typically utilize periodic gaits -- repeating cycles of body shape change that produce a net motion through the world. Legged locomotion can be viewed from the perspective of piece-wise contact…
This paper describes the formulation and experimental testing of a novel method for the estimation and approximation of submanifold models of animal motion. It is assumed that the animal motion is supported on a configuration manifold $Q$…
The paper proposes a variational-inequality based primal-dual dynamic that has a globally exponentially stable saddle-point solution when applied to solve linear inequality constrained optimization problems. A Riemannian geometric framework…
Latent variable models are powerful tools for learning low-dimensional manifolds from high-dimensional data. However, when dealing with constrained data such as unit-norm vectors or symmetric positive-definite matrices, existing approaches…
We present a numerical method for simulating rarefied gases that interact with moving boundaries and rigid bodies. The gas is described by the BGK equation in Lagrangian form and solved using an Arbitrary Lagrangian-Eulerian method, in…
The problem of rigid body pose estimation is treated in discrete-time via discrete Lagrange-d'Alembert principle and discrete Lyapunov methods. The position and attitude of the rigid body are to be estimated simultaneously with the help of…
Snakes' bodies are covered in scales that make it easier to slide in some directions than in others. This frictional anisotropy allows for sliding locomotion with an undulatory gait, one of the most common for snakes. Isotropic friction is…
This paper proposes Gait Decomposition (G.D), a method of mathematically decomposing snake movements, and Gait Parameter Gradient (GPG), a method of optimizing decomposed gait parameters. G.D is a method that can express the snake gait…
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…
By incorporating physical consistency as inductive bias, deep neural networks display increased generalization capabilities and data efficiency in learning nonlinear dynamic models. However, the complexity of these models generally…