Concept

Équation du mouvement

Publications associées (291)

Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion

We present a trajectory optimization framework for legged locomotion on rough terrain. We jointly optimize the center of mass motion and the foothold locations, while considering terrain conditions. We use a terrain costmap to quantify the desirability of ...

IEEE2017

The Design of A New Rotary Hexapod with A Single Active Degree of Freedom

Jamie Paik, Alexey Fomin

This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom (DoF) of an end-effector. It is not an underac ...

2017

Deformable block based motion estimation in omnidirectional image sequences

Pascal Frossard, Francesca De Simone

This paper presents an extension of block-based motion estimation for omnidirectional videos, based on a camera and translational object motion model that accounts for the spherical geometry of the imaging system. We use this model to design a new algorith ...

2017

Unpredictability does not hamper nonretinotopic motion perception

Michael Herzog, Marc Michael Lauffs

The motion of parts of an object is usually perceived relative to the object, i.e., nonretinotopically, rather than in retinal coordinates. For example, we perceive a reflector to rotate on the wheel of a moving bicycle even though its trajectory is cycloi ...

Association for Research in Vision and Ophthalmology (ARVO)2017

Assessment of the Influence of Losses on the Performance of the Electromagnetic Time Reversal Fault Location Method

Mario Paolone, Reza Razzaghi, Gaspard Lugrin

Electromagnetic time reversal (EMTR) has been shown to be an efficient method for locating faults in AC and DC power grids. In the available literature, the back-propagation medium has been considered to have identical losses as the direct-time medium. How ...

Institute of Electrical and Electronics Engineers2017

MATHICSE Technical Report : Numerical approximation of parametrized problems in cardiac electrophysiology by a local reduced basis method

Alfio Quarteroni, Andrea Manzoni, Stefano Pagani

The efficient solution of coupled PDEs/ODEs problems arising in cardiac electrophysiology is of key importance whenever interested to study the electrical behavior of the tissue for several instances of relevant physical and/or geometrical parameters. This ...

MATHICSE2017

Assessment of the Probability of Collapse of Structures Under Earthquakes

Dimitrios Lignos

Avoidance of collapse is the most important objective in earthquake resistant design, but assessing the probability of collapse of a structure during an earthquake is technically challenging and it is computationally demanding. This paper summarizes recent ...

International Association of Earthquake Engineering2017

Supervisory teleoperation with online learning and optimal control

Sylvain Calinon

We present a general approach for online learning and optimal control of manipulation tasks in a supervisory teleoperation context, targeted to underwater remotely operated vehicles (ROVs). We use an online Bayesian nonparametric learning algorithm to buil ...

IEEE2017

Relief of edge effects in bi-adhesive composite joints

Seyed Abdolmajid Yousefsani

Three-dimensional thermo-mechanical stress analysis of composite joints with bi-adhesive bonding is presented using the full layerwise theory. Based on three-dimensional elasticity theory, sets of fully coupled governing differential equations are derived ...

Elsevier Sci Ltd2017

Motion-based nearest vector metric for reference frame selection in the perception of motion

Michael Herzog, Aaron Michael Clarke

We investigated how the visual system selects a reference frame for the perception of motion. Two concentric arcs underwent circular motion around the center of the display, where observers fixated. The outer (target) arc's angular velocity profile was mod ...

Association for Research in Vision and Ophthalmology (ARVO)2016

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