In October 2012, the humanoid robot HRP-2 was presented during a live demonstration performing fine-balanced dance movements with a human performer in front of more than 1000 people. This success was possible by the systematic use of operational-space inverse dynamics to compute dynamically consistent movements following a motion capture pattern demonstrated by a human choreographer. The first ...

This paper studies modeling of tangential compliance as two rigid bodies collide in the space. Stronge’s spring-based contact structure [13, pp. 95-96] is extended to three dimensions. Slip or stick is indicated by the tangential motion of a massless particle connected to the contact point (viewed as an infinitesimal region) on one body via three orthogonal springs. We show that the effect of t...

In this paper, we present a fast and easy-to-implement locally physics-based Inverse Kinematics(IK) method. Our method builds upon a mass-spring model and relies on force interactions between masses. Joint rotations are computed using the closed-form method with predefined local axis coordinates. Combining these two approaches offers convincing visual quality results obtained with high time per...

A novel approach is proposed for the attitude stabilization and reorientation of an axi-symmetric spacecraft subject to two gas jet actuators. The approach is based on a new formulation of the attitude kinematics. Abstract| In this paper we consider the problem of attitude stabilization of an axi-symmetric spacecraft using two pairs of gas jet actuators. These actuators provide control torques ...

To investigate the parameters of the protein design problem that we are exploring in collaboration with biochemists, we have developed a tool that uses inverse kinematics to support moving small fragments of protein backbone, while respecting biochemists’ desires to “remain in favorable regions of the Ramachandran plot” and “preserve ideal geometry”. By presenting estimates of derivatives in re...

The Bariev model with open boundary conditions is introduced and analysed in detail in the framework of the Quantum Inverse Scattering Method. Two classes of independent boundary reflecting K-matrices leading to four different types of boundary fields are obtained by solving the reflection equations. The models are exactly solved by means of the algebraic nested Bethe ansatz method and the four...

We give a general treatment of twist-three effects in two-photon reactions. We address the issue of the gauge invariance of the Compton amplitude in generalized Bjorken kinematics and relations of twist-three 'transverse' skewed parton distributions to twist-two ones and interaction dependent three-particle correlation functions. Finally, we discuss leading order evolution of twist-three functi...