Push recovery through walking phase modification for bipedal locomotion

... PROBLEM OF PUSH RECOVERY FOR BIPEDAL ROBOT WALKING 29  3.2.1 Dynamic balance of bipedal robot walking 31  3.3 PUSH RECOVERY STRATEGY 33  3.3.1 Overview of push recovery ... arbitrary push that is applied while the bipedal robot is walking forward  The performance of our push recovery controller could be used as a benchmark for future push recovery cont...

Ngày tải lên: 09/09/2015, 18:53

... general method for joint trajectory generation to achieve optimized stable locomotion for bipedal robots is first proposed and referred to as Genetic Algorithm Optimized Fourier Series Formulation ... profile The entire bipedal walking control algorithm proposed in this thesis has shown to be general for different walking postures and for robots with different me...

Ngày tải lên: 11/09/2015, 09:02

... situation of using language games for the 10th form students at Sam Son high school Giving some suggested games that teacher use to develop their students speaking skill The objects of the study ... and synthetic methods Quantitative and qualitative methods Scope of the Study The study focuses on the real situation and suggests language games f...

Ngày tải lên: 19/12/2013, 15:47

... Schwaeble WJ & Jensenius JC (2000) Interaction of C1q and mannan -binding lectin (MBL) with C1r C1s MBL- associated serine proteases and 2, and the MBL- associated protein MAp19 J Immunol 165, 878–887 ... conclusion, the potential MBL co-receptor /chaperone calreticulin interacts with MBL at its MASPbinding site The interaction of calreticulin wi...

Ngày tải lên: 07/03/2014, 05:20

... query formulation will be unintuitive ! A stream data model that embraces a temporal data perspective, and introduces a clear separation of different notions of time in streaming applications ... only a conceptual representation of a stream In an actual implementation, stream schemas can be customized to fit application scenarios This is similar to the notion of temporal spe...

Ngày tải lên: 23/03/2014, 13:20

... categories of intrusion detection systems: network- WATSON et al.: PROTOCOL SCRUBBING: NETWORK SECURITY THROUGH TRANSPARENT FLOW MODIFICATION based and host-based Network- based intrusion detection systems ... events, WATSON et al.: PROTOCOL SCRUBBING: NETWORK SECURITY THROUGH TRANSPARENT FLOW MODIFICATION estimating round-trip time, calculating window sizes,...

Ngày tải lên: 28/03/2014, 22:20

... Solid-phase microextraction for bioconcentration studies referred to OECD TG 305 Running head: SPME for fish bioconcentration studies Rolf-Alexander Düring*1, ... reduced due to sorption to natural OM - already beneath the permitted concentration of mg L−1 TOC in the dilution water according to OECD TG 305 It is to be expected that resulting BCF values for...

Ngày tải lên: 20/06/2014, 20:20

... Low temperature- fired Ni-Cu-Zn ferrite nanoparticles through autocombustion method for multilayer chip inductor applications Khalid Mujasam Batoo*1 ... solution was allowed for gel formation on the magnetic stirrer at 65°C with constant stirring The gel formed was annealed at 200°C for 24 h, followed by grinding for 0.5 h The dried gel was allowed to ... hundreds...

Ngày tải lên: 21/06/2014, 17:20

... encode the local phase variations of QBC, and spatial region-based histograms are exploited as the final representation of a given face image, that is, histogram of local Gabor phase pattern (HLGPP) ... neighborhood variations of Gabor phase at each orientation and scale And LGPPs are combined with the local histograms to model the original face 2.2 Daugman’s meth...

Ngày tải lên: 21/06/2014, 22:20

... drop packets with the parameters of average packet loss rate (PB ) and average burst packet loss length (LB ) In Good-state, a packet is dropped with the probability of 0, while in Badstate, a packet ... IP packets to the packet mapping control EM The packet mapping control EM first identifies the packet using appropriate classification criteria (e.g., video frame/layer...

Ngày tải lên: 22/06/2014, 19:20

... presents the concluding remarks PHASE DIVERSITY Phase diversity technology is based on a fact that the magnitude of received signal energy at each antenna element of a smart antenna system is independent ... −22.04 −20.79 −19.03 −16.02 SNR (dB) With phase diversity, detected With phase diversity, undetected Without phase diversity, detected Without phase diversity, u...

Ngày tải lên: 23/06/2014, 01:20

... most important phase of any research project is the planning and study design phase Errors and shortcomings in this phase can have major negative impacts on the validity and reliability of the ... including any prespecified hypotheses, as well as information on the study's population, eligibility criteria for participants, and the setting and locations where the data was collected Additiona...

Ngày tải lên: 13/08/2014, 23:21

... method ALM for P2P live video streaming Many application- layer multicast protocols for P2P live video streaming have been proposed recently Based on topology, current applicationlayer multicast ... video streaming application and a comparison between IP Multicast and application layer multicast (ALM) Secondly, we discuss about current ALM solution...

Ngày tải lên: 25/03/2015, 09:37

... review and develop vocabulary for the first-year students at the department of Finance and Accounting, PDU Figure 1: The application of communicative speaking tasks in consolidating and improving the ... Vocabulary through Communicative Speaking Tasks for the First-Year Students at the Department of Finance and Account...

Ngày tải lên: 15/07/2015, 13:03