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原文連結
論文資訊
- 類型：已發表論文
- 日期：2022-03-04
摘要
From enzyme binding to robot grasping, the function of many mechanical systems depends upon large, coordinated motions of their components. Such motions arise from a 網絡 of physical interactions in the form of links (edges) that transmit forces between constituent elements (nodes) and have been fruitfully modeled in known 網絡s. However, the principled design of precise motions in novel 網絡s is made difficult by the number and 非線性ity of interactions. Here, we formulate a simple but powerful framework for designing fully 非線性 motions using concepts from dynamical systems theory. We demonstrate that a small 網絡 unit acts as a one-dimensional map between the distances across pairs of nodes, and we represent the act of combining units as an iteration of this map. By tying the map's 吸引子s and their st
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