3 papers
eess.SY2026
Lie Group Variational Integrator for the Geometrically Exact Rod with Circular Cross-Section Incorporating Cross-Sectional Deformation
Srishti Siddharth, Vivek Natarajan, Ravi N. Banavar
In this paper, we derive the continuous space-time equations of motion of a three-dimensional geometrically exact rod, or the Cosserat rod, incorporating planar cross-sectional def…
eess.SY2025
On the convergence of a numerical scheme for a boundary controlled 1D linear parabolic PIDE
Soham Chatterjee, Vivek Natarajan
We consider an 1D partial integro-differential equation (PIDE) comprising of an 1D parabolic partial differential equation (PDE) and a nonlocal integral term. The control input is…
cs.RO2025
Design, fabrication and control of a cable-driven parallel robot
Dhruv Sorathiya, Sarthak Sahoo, Vivek Natarajan
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to…