This paper investigates the problem of efficient computation physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, could be decomposed into simpler kinematic and centroidal dynamic optimization problems. Based on this approach, we propose a general convex relaxation dynamics leading to two computationally algorithms based iterative resolutions second ord...

The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which sequence optimization problems needs to be solved online. While directly solving these extremely time-consuming, we propose gait synthesizer offer immediate solutions. Based on the full-dimensional model, library gaits with different speeds periods first of...

Given an input 3D image, in this paper we first segment it into several clusters by extending the 2D harmonic edge-weighted centroidal Voronoi tessellation (HEWCVT) method to the 3D image domain. The Dual Contouring method is then applied to construct tetrahedral meshes by analyzing both material change edges and interior edges. An anisotropic Giaquinta-Hildebrandt operator (GHO) based geometri...

Stippling is an artistic technique that has been used profusely in antiquity. One of the main problems is that it requires great skill and patience to achieve excellent results due to the large number of points that must be drawn even for small formats. The use of computers, in general, and GPUs, in particular, with their computing capacity, has allowed to overcome many of these limits. We pres...

In this paper, we investigate the vortex nucleation on a thin superconducting hollow sphere. The problem is studied using a simplified system of Ginzburg–Landau equations. We present numerical algorithms which preserve the discrete gauge invariance for both time dependent and time independent simulations. The spatial discretization is based on a spherical centroidal Voronoi tessellation which o...

The subject of mesh generation and optimization is very important in many scientific applications. In this paper, we investigate the issue of mesh optimization via the construction of Centroidal Voronoi Tessellations. Given some initial Delaunay meshes with only average quality, it is shown that the CVT based mesh optimization generates a robust, high quality mesh which does not rely critically...