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With the rapid development of e-commerce over Internet, web services have attracted much attention in recent years. Nowadays, enterprises are able to outsource their internal business processes as services and make them accessible via the Web. Then they can dynamically combine individual services to provide new value-added services. A main problem that remains is how to discover desired web ser...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...