This paper newly considers the ZMP(Zero Moment Point) of a humanoid robot under arm/leg coordination. By considering the infinitesimal displacement and the moment acting on the convex hull of the supporting points, we show that our method for determining the region of ZMP can be applicable to several cases of the arm/leg coordination tasks. We first express two kinds of ZMPs for such coordinati...

We show that the classical Hamburger moment problem can be included in the spectral theory of generalized indefinite strings. Namely, we introduce the class of Krein–Langer strings and show that there is a bijective correspondence between moment sequences and this class of generalized indefinite strings. This result can be viewed as a complement to the classical results of M. G. Krein on the co...

The moment-entropy inequality shows that a continuous random variable with given second moment and maximal Shannon entropy must be Gaussian. Stam’s inequality shows that a continuous random variable with given Fisher information and minimal Shannon entropy must also be Gaussian. The CramérRao inequality is a direct consequence of these two inequalities. In this paper the inequalities above are ...

The inverse Weibull distribution can be readily applied to a wide range of situations including applications in medicine, reliability and ecology. In this article we introduce a new model of generalized inverse Weibull distribution referred to as the Exponentiated generalized inverse distribution. We provide a comprehensive mathematical treatment of this distribution. We derive the moment gener...

The effect of the choice of control allocation scheme upon individual control effector rate demands is examined. Three previously reported and one new variation of control allocation schemes are described and compared. The new allocation scheme exploits the maximum attainable moment-rates of a given control effector configuration and is called moment rate allocation. The bases of comparison are...

In the present paper, we would like to draw attention to a possible generalized Fisher information that ts well in the formalism of nonextensive thermostatistics. This generalized Fisher information is de ned for densities on R. Just as the maximum Rényi or Tsallis entropy subject to an elliptic moment constraint is a generalized qGaussian, we show that the minimization of the generalized Fishe...

We investigate the magnetic and structural properties of the ~001! surfaces of V, Cr, and one monolayer V on Cr in density-functional theory in the local spin-density and the generalized gradient approximation. For both exchange-correlation potentials the surface magnetic moment of Cr is very large (2.6mB) and the V surface is nonmagnetic. One monolayer V on Cr exhibits also a large magnetic mo...