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Research questionHow can elastic elements enable efficient control of many periodic trajectories across a mechanical system’s configuration space?Strict nonlinear normal modes are typically isolated curves in configuration space, making it difficult to support many periodic motions with one mechanical system. Actuators would otherwise need to provide much of the torque required to execute those trajectories.
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Latest papersRecent research connected to this question, newest first.Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic FlowThe source concerns potentials realizable with nonlinear elastic elements, control of target modes, swing-up, and compensation for dissipated energy. Evidence is demonstrated experimentally on a two-degree-of-freedom manipulator.research paper · Sep 4, 2026
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