Locomotion of legged robots on arbitrary terrain using multiple contacts is yet an open problem. To tackle it, a common approach is to rely on reduced template models (e.g. the linear inverted pendulum). However, most of existing template models are based on some restrictive hypotheses that limit their range of applications. Moreover, reduced models are generally not able to cope with the const...

W present a new adaptive reconnection-based arbitrary Lagrangian Eulerian: A-ReALE method. The main elements in a A-ReALE method are: An explicit Lagrangian phase on arbitrary polygonal mesh in which the solution and positions of grid nodes are updated; a rezoning phase in which a new grid is defined number of mesh cells, their location and connectivity (it is based on using Voronoi tessellatio...

The writer presents a parametric study devoted to investigate the behavior of nonprismatic members having T-sections by using three-dimensional ~3D! finite-element models ~FEMs!. Fixed-end moments and stiffness coefficients were computed from the 3DFEMs considering thrust effects. As a result of the parametric study, the writer proposed a practical modeling technique based on two-noded beam ele...

We present some geometric relationships between the ordinary Voronoi diagram, and the Voronoi diagram in the Laguerre geometry. We derive from these properties an algorithm for the conversion of ordinary Voronoi diagrams into Voronoi diagrams in the Laguerre geometry.

We make use of the recent proof that the critical probability for percolation on random Voronoi tessellations is 1/2 to prove the corresponding result for random Johnson–Mehl tessellations, as well as for twodimensional slices of higher-dimensional Voronoi tessellations. Surprisingly, the proof is a little simpler for these more complicated models.

A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor of a hierarchy of high-priority position and orientation tasks and a low-priority postural task. More specifically, the controller stabilizes the position of the center of mass, the orientation of the pelvis frame, as...