The walking of a bipedal robot is composed of different phases such as single support (SS) with flat foot, SS with foot rotation around the metatarsal axis and double support. During every walking phase there is a dynamic model and a contact with the ground. Thus, an appropriated control law has to be implemented for each phase. Generally, the type of contact with the ground is imposed but it i...

We present an extension to a previous morphing method for human motion. It works on motion capture data that is segmented into movement elements. Our new timewarping algorithm accepts time-dependent continuous functions as input for the morphing coefficients without introducing foot sliding. It is designed for creating new natural looking motions from given prototype motions. We employ a zero-m...

The electric dipole moments of (H2O)nDCl (n=3-9) clusters have been measured by the beam-deflection method. Reflecting the (dynamical) charge distribution within the system, the dipole moment contributes information about the microscopic structure of nanoscale solvation. The addition of a DCl molecule to a water cluster results in a strongly enhanced susceptibility. There is evidence for a noti...

In this paper, we show that the domination number D of a random graph enjoys as sharp a concentration as does its chromatic number χ. We first prove this fact for the sequence of graphs {G(n, pn}, n → ∞, where a two point concentration is obtained with high probability for pn = p (fixed) or for a sequence pn that approaches zero sufficiently slowly. We then consider the infinite graph G(Z+, p),...