Contact-Implicit Trajectory Optimization Based on a Variable Smooth Contact Model and Successive Convexification

In this paper, we propose a contact-implicit trajectory optimization (CITO) method based on a variable smooth contact model (VSCM) and successive convexification (SCvx). The VSCM facilitates the convergence of gradient-based optimization without compromising physical fidelity. On the other hand, the proposed SCvx-based approach combines the advantages of direct and shooting methods for CITO. For evaluations, we consider non-prehensile manipulation tasks. The proposed method is compared to a version based on iterative linear quadratic regulator (iLQR) on a planar example. The results demonstrate that both methods can find physically-consistent motions that complete the tasks without a meaningful initial guess owing to the VSCM. The proposed SCvx-based method outperforms the iLQR-based method in terms of convergence, computation time, and the quality of motions found. Finally, the proposed SCvx-based method is tested on a standard robot platform and shown to perform efficiently for a real-world application.Comment: Accepted for publication in ICRA 201

On the Number of Embeddings of Minimally Rigid Graphs

Rigid frameworks in some Euclidian space are embedded graphs having a unique local realization (up to Euclidian motions) for the given edge lengths, although globally they may have several. We study the number of distinct planar embeddings of minimally rigid graphs with $n$ vertices. We show that, modulo planar rigid motions, this number is at most ${{2n-4}\choose {n-2}} \approx 4^n$. We also exhibit several families which realize lower bounds of the order of $2^n$, $2.21^n$ and $2.88^n$. For the upper bound we use techniques from complex algebraic geometry, based on the (projective) Cayley-Menger variety $CM^{2,n}(C)\subset P_{{{n}\choose {2}}-1}(C)$ over the complex numbers $C$. In this context, point configurations are represented by coordinates given by squared distances between all pairs of points. Sectioning the variety with $2n-4$ hyperplanes yields at most $deg(CM^{2,n})$ zero-dimensional components, and one finds this degree to be $D^{2,n}={1/2}{{2n-4}\choose {n-2}}$. The lower bounds are related to inductive constructions of minimally rigid graphs via Henneberg sequences. The same approach works in higher dimensions. In particular we show that it leads to an upper bound of $2 D^{3,n}= {\frac{2^{n-3}}{n-2}}{{n-6}\choose{n-3}}$ for the number of spatial embeddings with generic edge lengths of the 1-skeleton of a simplicial polyhedron, up to rigid motions

Expansive Motions and the Polytope of Pointed Pseudo-Triangulations

We introduce the polytope of pointed pseudo-triangulations of a point set in the plane, defined as the polytope of infinitesimal expansive motions of the points subject to certain constraints on the increase of their distances. Its 1-skeleton is the graph whose vertices are the pointed pseudo-triangulations of the point set and whose edges are flips of interior pseudo-triangulation edges. For points in convex position we obtain a new realization of the associahedron, i.e., a geometric representation of the set of triangulations of an n-gon, or of the set of binary trees on n vertices, or of many other combinatorial objects that are counted by the Catalan numbers. By considering the 1-dimensional version of the polytope of constrained expansive motions we obtain a second distinct realization of the associahedron as a perturbation of the positive cell in a Coxeter arrangement. Our methods produce as a by-product a new proof that every simple polygon or polygonal arc in the plane has expansive motions, a key step in the proofs of the Carpenter's Rule Theorem by Connelly, Demaine and Rote (2000) and by Streinu (2000).Comment: 40 pages, 7 figures. Changes from v1: added some comments (specially to the "Further remarks" in Section 5) + changed to final book format. This version is to appear in "Discrete and Computational Geometry -- The Goodman-Pollack Festschrift" (B. Aronov, S. Basu, J. Pach, M. Sharir, eds), series "Algorithms and Combinatorics", Springer Verlag, Berli

A simple approach to the correlation of rotovibrational states in four-atomic molecules

The problem of correlation between quantum states of four-atomic molecules in different geometrical configurations is reviewed in detail. A general, still simple rule is obtained which allows one to correlate states of a linear four-atomic molecule with those of any kind of non-linear four-atomic molecule.Comment: 16 pages (+8 figures), Postscript (ready to print!

An ab initio and force field study on the conformation and chain flexibility of the dichlorophosphazene trimer

Ab initio molecular orbital calculations have been used to study the conformation, valence electron charge density, and chain flexibility of a dichlorophosphazene trimer (CH3[NP(Cl2)]3CH3). The calculations were carried out at the restricted Hartree-Fock level with the 6-31 G* basis set. The dichlorophosphazene trimer adopts a planar transcis conformation. The valence electron charge distribution indicates strong charge separations along the backbone of the molecule, and is in agreement with Dewar's island delocalization model for bonding in linear and cyclic phosphazenes. In order to determine the height of the torsional barrier (2,5 kcal/mol), the torsional potential of a central P-N bond of the trimer was studied with a rigid rotor scan and geometry optimizations of selected rotamers. The flexibility of the P-N-P bond angle contributes significantly to the chain flexibility. Based on the results of the ab initio calculations, an empirical force field for the dichlorophosphazene trimer was developed. The energy expression includes bond stretch, angle bend, electrostatic, van der Waals, and torsional potential terms. A relaxed scan with the force field achieves good agreement with the ab initio results for the torsional potential in the vicinity of the stable conformation, and an excellent agreement with the ab initio results on changes in the P2N2P3 bond angle and the N1P2 - N2P3 dihedral angle during a full rotation around the N2 - P3 bond

Euler-Poisson-Newton approach in Cosmology

This lecture provides us with Newtonian approaches for the interpretation of two puzzling cosmological observations that are still discussed subject : a bulk flow and a foam like structure in the distribution of galaxies. For the first one, we model the motions describing all planar distortions from Hubble flow, in addition of two classes of planar-axial distortions with or without rotation, when spatial distribution of gravitational sources is homogenous. This provides us with an alternative to models which assume the presence of gravitational structures similar to Great Attractor as origin of a bulk flow. For the second one, the model accounts for an isotropic universe constituted by a spherical void surrounded by a uniform distribution of dust. It does not correspond to the usual embedding of a void solution into a cosmological background solution, but to a global solution of fluid mechanics. The general behavior of the void expansion shows a huge initial burst, which freezes asymptotically up to match Hubble expansion. While the corrective factor to Hubble law on the shell depends weakly on cosmological constant at early stages, it enables us to disentangle significantly cosmological models around redshift z ~ 1.7. The magnification of spherical voids increases with the density parameter and with the cosmological constant. An interesting feature is that for spatially closed Friedmann models, the empty regions are swept out, what provides us with a stability criterion.Comment: 15 pages, 1 figur