Trunk motions are typically used to stabilize the locomotion of biped robots, which can be very large in some leg trajectories. This paper proposes a method to reduce the motion range of the trunk by generating a desired trajectory of the ZMP. The trajectory is determined by a fuzzy logic based upon the leg trajectories that are arbitrary selected. The resulting ZMP trajectory is similar to hum...

Spatial interactions between agents (humans, animals, or machines) carry information of high value to human or electronic observers. However, not all the information contained in a pair of continuous trajectories is important and thus the need for qualitative descriptions of interaction trajectories arises. The Qualitative Trajectory Calculus (QTC) (Van de Weghe, 2004) is a promising developmen...

In this paper, we present a novel technique for predicting and visualizing users' future navigations. Here, user navigation is considered as the sequence of URL's visited by the user. We have used distance-based specific trajectory clustering to partition users and integrated with Markov model for predicting users' future navigation. For testing the proposed technique, we developed a tool calle...

We use the CP trajectory diagram as a tool for pictorial representation of the genuine CP and the matter effects to explore the possibility of an in situ simultaneous measurement of δ and the sign of ∆m213. We end up with a low-energy conventional superbeam experiment with a megaton-class water Cherenkov detector and baseline length of about 700 km. A picturesque description of the combined amb...

The problem of optimally designing a trajectory for a space mission is considered in this paper. Actual mission design is a complex, multidisciplinary and multi-objective activity with relevant economic implications. In this paper we will consider some simplified models proposed by the European Space Agency as test problems for global optimization. We show that many trajectory optimization prob...

Human speech production is often described as an optimisation process, which tends to maximise the effectiveness of the communication process minimising the effort involved in the production. The aim of this paper is to investigate this highly complex problem with two dimensionally reduced spaces corresponding to different computational models. Since the highdimensional parameter space which us...

High force density, compact form factor and muscle like compliance properties makes pneumatics actuators quite desirable for robotic applications. However, the compressibility of the air not only throttles their bandwidth but also makes them harder to control. In this work, we leverage online trajectory optimization techniques to design high performance controllers for pneumatic actuators of AD...

* This work was supported by the project RESOLV-Reconstruction using Scanned Laser and Video of the ACTS Programme, EU. Abstract This paper describes a multi-loop, modular navigation architecture for mobile robots whose structure allows the execution of most types of navigation tasks in a highly robust manner. The modularity allows the clear separation of functions according to their complexity...

A novel scheme for depth extraction is achieved using a multiple view ring camera system. The ring camera method captures a series of images of scene from a set of camera locations arranged in a circular ring. Tracking of scene features through this sequence realizes circular feature trajectories. The recovery of depth can be obtained with this method by determining the diameter of the circular...