Signed-quadratic systems admit orthogonal foliations by a logarithmic potential that stratify orthants into extremal and transitional layers, with extremal layers diffeomorphic to unbounded task space via globally smooth right-inverses that confine motion to a single orthant.
Evaluation of Optimization Methods for Control Alloca- tion
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Multirotor energy-promptness trade-offs are governed by fiber geometry, with antagonistic actuation enabling aerodynamic co-contraction analogous to variable stiffness actuators.
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Global Geometry of Orthogonal Foliations of Signed-Quadratic Systems
Signed-quadratic systems admit orthogonal foliations by a logarithmic potential that stratify orthants into extremal and transitional layers, with extremal layers diffeomorphic to unbounded task space via globally smooth right-inverses that confine motion to a single orthant.
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Muscle Coactivation in the Sky: Geometry and Pareto Optimality of Energy vs. Aerodynamic Promptness and Multirotors as Variable Stiffness Actuators
Multirotor energy-promptness trade-offs are governed by fiber geometry, with antagonistic actuation enabling aerodynamic co-contraction analogous to variable stiffness actuators.