In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression d...

Global warming has shifted the onset of spring plant phenology towards earlier dates. This shift can lead to “false springs” (plants get frost damage) because the date of last frost has not advanced at the same pace than the advancement of spring onset. Here, we use a cloud computing approach for processing big and high spatial resolution grids of temperature data to map the occurrence of false...

We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the elasticity of its legs to move in a desired direction. Stable motion along a curved path is achieved using curvature, bearing and relative distance between the ru...

This paper presents an adaptive compliant multi-finger grasp approach control strategy based on based on a new interpretation of the virtual spatial spring framework, to improve the grasp performance for target objects with position errors. An n-finger virtual spatial spring frame is proposed to achieve the adaptive compliant grasp control. Twofinger grasp control based on a single virtual spri...

mahallat hot springs located in the northeast of mahallat, in central iran. there are 6 main hot springs namely shafa, abejoush, donbeh, soleimanie, hakim and soda. in this research, geology, physico-chemical characteristics and petrography of basement rocks of these hot springs have been investigated. the results show that hot springs have an average temperature of 45°c and acidic to neutral p...