The process of finding working gaits for legged robots always, to different extents, includes manual tuning, systematic search, or optimization of control parameters. This process populates a dataset of control parameter vectors and respective robot behavior factors including body rotations, speed, duty factor, etc. Normally, targeting actuated robots and not simulated ones, these datasets are ...

This project aims at implementing a close-to-reality model of the recently developed Cheetah robot [1] in Webots [2], a commercial mobile robot simulation software developed by Cyberbotics Ltd. Furthermore, a pre-developed CPG [3] will be applied to the robot to determine feasible gaits and their optimal parameters for the Cheetah robot. Special interest lies in the characterization of the usef...

Detonation waves in insensitive, TATB based explosives are believed to have multi-time scale regimes. The initial burn rate of such explosives has a sub-microsecond time scale. However, significant late-time slow release in energy is believed to occur due to diffusion limited growth of carbon. In the intermediate time scale concentrations of product species likely change from being in equilibri...