The rewriting calculus is a rule construction and application framework. As such it embeds in a uniform way term rewriting and lambda-calculus. Since rule application is an explicit object of the calculus, it allows us also to handle the set of results explicitly. We present a simply typed version of the rewriting calculus. With a good choice of the type system, we show that the calculus is typ...

The spring-loaded inverted pendulum (SLIP), or monopedal hopper, is an archetypal model for running in numerous animal species. Although locomotion is generally considered a complex task requiring sophisticated control strategies to account for coordination and stability, we show that stable gaits can be found in the SLIP with both linear and "air" springs, controlled by a simple fixed-leg rese...

ment of which Ford and Hayes are so fond) is silly. QED. So you can see why I feel so insulted. Here I sit, captain of enough silly proofs to take us, year by year, well into the next century, and I only win once, and only win now? Of course, our attitude may change if Jones’ says, “No, you don’t understand! Proponents of g are out there; and I have set myself the task of showing that they are ...

We introduce a general method for animating controlled stepping motion for use in combining motion capture sequences. Our stepping algorithm is characterized by two simple models which idealize the movement of the stepping foot and the projected center of mass based on observations from a database of step motions. We draw a parallel between stepping and point-to-point reaching to motivate our f...

in this paper, nonlinear equations of motion for laminated composite rectangular plates based on the first order shear deformation theory were derived. using a perturbation method, the nonlinear equation of motion was solved and analytical relations were obtained for natural and nonlinear frequencies. after proving the validity of the obtained analytical relations, as an alternative and simple ...