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...

inventory control problem is one of the problems in decision making and management that contains non-crisp parameters in real world. economic production quantity (epq) model in fuzzy environment has been studied so far by many researchers. one of the main assumptions in all previous researches was neglecting the inventory shortage. in this research, a new multi-item epq model with fuzzy random ...

Many important problems in Artificial Intelligence can be defined as Constraint Satisfaction Problems (CSP). These types of problems are defined by a limited set of variables, each having a limited domain and a number of Constraints on the values of those variables (these problems are also called Consistent Labeling Problems (CLP), in which “Labeling" means assigning a value to a variable.) Sol...

Decomposition methods are used to convert general constraint satisfaction problems into an equivalent tree-structured problem that can be solved more effectively. Recently, diagnosis algorithms for treestructured systems have been introduced, but the prerequisites of coupling these algorithms to the outcome of decomposition methods have not been analyzed in detail, thus limiting their diagnosti...