in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...

The law of entropy increase for bodies in mutual thermal contact may be argued using the fact that final temperature process is higher than a reversible work extraction.

In this paper, an adaptive accommodation control for complex assembly is presented. The complex assembly (CA) is defined as a task whose wsembled parts have complex geome~ including concavity. The concept of the adaptive accommodation, which is inspired by the insertion operation of a blindfold human, is to adaptively change the accommodation property depending on the sensed contact wrench and ...

Unusually rapid closure of stressed fractures, observed in the initial stages of loading and at low temperatures, is examined using models for subcritical crack growth and pressure solution. The model for stress corrosion examines tensile stress concentrations induced at the Hertzian contact of propping fracture asperities, and mediates fracture growth according to a kinetic rate law. Conversel...

We consider a class of evolutionary variational inequalities arising in quasistatic frictional contact problems for linear elastic materials. We indicate sufficient conditions in order to have the existence, the uniqueness and the Lipschitz continuous dependence of the solution with respect to the data, respectively. The existence of the solution is obtained using a time-discretization method, ...