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In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...
PURPOSE: Most existing methods for accelerated parallel imaging in MRI require additional data, which are used to derive information about the sensitivity profile of each radiofrequency (RF) channel. In this work, a method is presented to avoid the acquisi ...
We investigate the physics of coherent polaritons in a double-well configuration under a resonant pumping. For a continuous-wave pump, bistability and self-pulsing regimes are identified as a function of the pump energy and intensity. The response to an ad ...
Multi-Object tracking (MOT) is an important problem in a number of vision applications. For particle filter (PF) tracking, as the number of objects tracked increases, the search space for random sampling explodes in dimension. Partitioned sampling (PS) sol ...
Classically, fundamental diagrams are estimated front aggregated data at a specific location. Such a measurement method may lead to inconsistency, which mainly explains the current controversy about their shape. This paper proposes a new estimation method ...
Institute of Electrical and Electronics Engineers2009
A mobile microrobot is defined as a robot with a size ranging from 1 in3 down to 100 µm3 and a motion range of at least several times the robot's length. Mobile microrobots have a great potential for a wide range of mid-term and long-term applications such ...
In theories with a large number N of particle species, black hole physics imposes an upper bound on the mass of the species equal to M-Planck/root N. This bound suggests a novel solution to the hierarchy problem in which there are N approximate to 10(32) g ...
We study the possibility of achieving metastable de Sitter vacua in general N=2 to N=1 truncated supergravities without vector multiplets, and compare with the situations arising in N=2 theories with only hypermultiplets and N=1 theories with only chiral m ...
In the rod and hole paradox as described by Rindler (1961 Am. J. Phys. 29 365–6) ('length contraction paradox'), a rigid rod moves at high speed over a table towards a hole of the same size. A bystander expects the rod to fall into the hole, but a co-movin ...
Multi-Object tracking (MOT) is an important problem in a number of vision applications. For particle filter (PF) tracking, as the number of objects tracked increases, the search space for random sampling explodes in dimension. Partitioned sampling (PS) sol ...
