We propose a position-based approach for largescale simulations of rigid bodies at interactive frame-rates. Our method solves positional constraints between rigid bodies and therefore integrates nicely with other position-based methods. Interaction of particles and rigid bodies through common constraints enables two-way coupling with deformables. The method exhibits exceptional performance and ...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

This paper demonstrates that techniques in flexible body dynamics can yield surprising results when applied to rigid bodies. The discussion presents a technique for constructing rigid bodies from collections of masses and springs, and demonstrates that the simulation calculates many features of rigid body dynamics such as the behavior of the center of mass and the moments of inertia, free of ch...

We map the general relativistic two-body problem onto that of a test particle moving in an effective external metric. This effective-one-body approach defines, in a non-perturbative manner, the late dynamical evolution of a coalescing binary system of compact objects. The transition from the adiabatic inspiral, driven by gravitational radiation damping, to an unstable plunge, induced by strong ...

During the last few decades, the two fields of ultracold neutral atoms and of single trapped ions have undergone an amazing development. The incorporation of both these systems into a single experiment exploits the complementary physical properties of the subsystems and opens up novel lines of research. In this thesis, I present experimental results obtained in one of the first hybrid atom-ion ...