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 Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...

Abstract We present, through weak KAM theory, an investigation of the stationary Hartree equation in periodic setting. More details, we study Mean Field asymptotics quantum many body operators thanks to various integral identities providing energy ground state and minimum value functional. Finally, multiple-well case is studied semiclassical Agmon metric.

We view match as an operator that takes two graph-like structures (e.g., XML schemas) and produces a mapping between the nodes of these graphs that correspond semantically to each other. Semantic schema matching is based on the two ideas: (i) we discover mappings by computing semantic relations (e.g., equivalence, more general); (ii) we determine semantic relations by analyzing the meaning (con...