Humanoid robots have a large number of “extra” joints, organized in a humanlike fashion with several kinematic chains. In this chapter we describe a method of motion planning that is based on an artificial potential field approach (Passive Motion Paradigm) combined with terminal-attractor dynamics. No matrix inversion is necessary and the computational mechanism does not crash near kinematic si...

The control of a dual-arm robotic system in a manipulation task involving a exible load is considered in this paper. The task consists of following an environment surface without loss of contact. In contrast to other schemes for control of environment interaction, the method used here is purely kinematic, taking advantage of load exibility for keeping contact with the surface. A kinematic descr...

We assess two competing dynamic interpretations that have been proposed for the short slip durations characteristic of kinematic earthquake models derived by inversion of earthquake waveform and geodetic data. The first interpretation would require a fault constitutive relationship in which rapid dynamic restrengthening of the fault surface occurs after passage of the rupture front, a hypothesi...

In this article, we propose standards for documenting and disseminating finite-fault earthquake rupture models, and related data and metadata. A comprehensive documentation of the rupture models, a detailed description of the data processing steps, and facilitating the access to the actual data that went into the earthquake source inversion are required to promote follow-up research and to ensu...

Multiple reflections provide redundant, and sometimes additional, information about the corresponding primary reflections. I implement a least-squares inversion scheme to jointly image (by normal moveout) primaries and multiples, with the goal of enforcing consistency between the images and the input data. Furthermore, to effect noise (“crosstalk”) suppression, I introduce a novel form of model...

BACKGROUND The variability of peroneal reaction time measurements is a major problem when using this parameter to control rehabilitation or proprioceptive training processes. In order to control peroneal reaction time values, some extrinsic factors should be considered. The purpose of this study was to measure peroneal reaction time in unipodal stance for two different destabilization axes. M...

Although landing in a plantarflexion and inversion position is a well-known characteristic of lateral ankle sprains, the associated kinematics of the knee and hip is largely unknown. Therefore, the purpose of this study was to examine the changes in knee and hip kinematics during landings on an altered landing surface of combined plantarflexion and inversion. Participants performed five drop la...

In full-waveform inversion of seismic body waves, often the free surface is ignored on grounds of computational efficiency.Asynthetic study was performed to investigate the effects of this simplification. In terms of size and frequency, the test model and data conform to a real long-offset survey of the upper crust across the San Andreas fault. Random fractal variations are superimposed on a ba...