quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

the determination of gyration radius is a strong research for configuration of a macromolecule. italso reflects molecular compactness shape. in this work, to characterize the behavior of theprotein, we observe quantities such as the radius of gyration and the average energy. we studiedthe changes of these factors as a function of temperature for acetylcholine receptor protein in gasphase with n...

potassium channels allow potassium flux and are essential for the generation of electric current acrossexcitable membranes. potassium channels are also the targets of various intracellular controlmechanisms; such that the suboptimal regulation of channel function might be related to pathologicalconditions. realistic studies of ion current in biologic channels present a major challenge for compu...

The emergence of second-harmonic generation (SHG) is a pivotal issue to the development of nano-optical devices and interfaces. Here, we perform a classical analysis of the SHG dynamics with the aim of determining critical values of the electric field. The signals of the SHG process are nonlinear, so it seems reasonable that chaos theory can be a suitable tool to analyze their dynamics. For thi...

In this paper, the optimal adaptive leader-follower consensus of linear continuous time multi-agent systems is considered. The error dynamics of each player depends on its neighbors’ information. Detailed analysis of online optimal leader-follower consensus under known and unknown dynamics is presented. The introduced reinforcement learning-based algorithms learn online the approximate solution...

the complete 3d nonlinear dynamic problem of extensible, flexible risers conveying fluid is considered. for describing the dynamics of the system, the newtonian derivation procedure is followed. the velocity field inside the pipe formulated using hydrostatic and bernoulli equations. the hydrodynamic effects of external fluids are taken into consideration through the nonlinear drag forces in var...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...