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...

We give a short survey on computational techniques which can be used to solve the representation conversion problem for polyhedra up to symmetries. We in particular discuss decomposition methods, which reduce the problem to a number of lower dimensional subproblems. These methods have been successfully used by different authors in special contexts. Moreover, we sketch an incremental method, whi...

Article history: Received 17 August 2009 Received in revised form 13 February 2010 Accepted 24 March 2010 Available online 27 March 2010

Drawing inferences from a set of general constraint clauses is known as a difficult problem. A general approach is based on the idea of eliminating some or all variables involved. In the particular case of propositional logic, this approach leads to a simple procedure that incorporates the well-known resolution principle. The purpose of this paper is to show how the resolution principle can be ...

Tailoring solver-independent constraint instances to target solvers is an important component of automated constraint modelling. We augment the tailoring process by a set of enhancement techniques of which many are successfully established in related fields, such as common subexpression elimination. Our aim is to apply these techniques in an efficient fashion, since we tailor instance-wise, and...

We present new complexity results on the class of 0/1/All constraints. The central idea involves functional elimination, a general method of elimination whose focus is on the subclass of functional constraints. One result is that for the subclass of "All" constraints, strong n-consistency and minimality is achievable in O(en) time, where e, n are the number of constraints and variables. The mai...

One of the key research interests in the area of Constraint Satisfaction Problem (CSP) is to identify tractable classes of constraints and develop efficient solutions for them. In this paper, we introduce generalized staircase (GS) constraints which is an important generalization of one such tractable class found in the literature, namely, staircase constraints. GS constraints are of two kinds,...

A p-norm surrogate constraint method is proposed in this paper for integer programming. A single surrogate constraint can be always constructed using p-norm such that the feasible sets in a surrogate relaxation and the primal problem match exactly. The p-norm surro-gate constraint method is thus guaranteed to succeed in identifying the optimal solution of the primal problem with zero duality ga...

We present for the first-order theory of atomic Boolean algebras of sets with linear cardinality constraints a quantifier elimination algorithm. In the case of atomic Boolean algebras of sets, this is a new generalization of Boole’s well-known variable elimination method for conjunctions of Boolean equality constraints. We also explain the connection of this new logical result with the evaluati...

1.1 Abstract This paper is concerned with variable elimination methods in linear in-equation systems, related to Fourier's elimination8]. Our aim is to make visible the links between the diierent contributions of S.N. Yap 14]. We show that the three methods proposed by Cernikov, Kolher and Imbert produce exactly the same output (without more or less redundant inequations), up to multiplying by ...