This paper presents a methodology for the composition of complex dynamic behaviors in legged robots, and illustrates these concepts to experimentally achieve robotic dancing. Inspired by principles from dynamic locomotion, we begin by constructing controllers that drive a collection of virtual constraints to zero; this creates a low-dimensional representation of the bipedal robot. Given any two...

One approach to explaining the conditions under which additional landmarks will be learned or ignored relates to the nature of the information provided by the landmarks (i.e., distance versus bearings). In the current experiment, we tested the ability of such an approach to explain the search behavior of human participants in a virtual landmark-based navigation task by manipulating whether land...

Recently we found that the theories related to information theory existent in the literature cannot explain the behavior of the extent of the lateral inhibition mediated by retinal horizontal cells as a function of background light intensity. These theories can explain the fall of the extent from intermediate to high intensities, but not its rise from dim to intermediate intensities. We propose...

This paper constructs a model for the evolution of a risky security that is consistent with a set of observed call option prices. It explicitly treats the fact that only a discrete data set can be observed in practice. The framework is general and allows for state dependent volatility and jumps. The theoretical properties are studied. An easy procedure to check for arbitrage opportunities in ma...

This paper introduces a new mid-level feature, the consistent line cluster, for use in content-based image retrieval. The color, orientation, and spatial features of line segments are exploited to group them into line clusters. The interrelationships among different clusters and the intrarelationships within single clusters are used to recognize and roughly locate buildings in photographic imag...

Our present understanding of the reheating phase is incomplete due to a lack observations. Apart from its cosmological implications, should play vital role in particle physics and inflation model building. Conventionally, dynamics are modeled by invoking arbitrary coupling among inflaton daughter fields. Such an approach lacks robust predictions, couplings, difficult verify through observation....