Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids
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Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...
Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...
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We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for hu ...
A gram-scale synthesis of psiguadial B, a purported inhibitor of human hepatoma cell growth, has been achieved in one step by a biomimetic three-component coupling of caryophyllene, benzaldehyde, and diformylphloroglucinol. This cascade reaction is catalyz ...