In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...

car body acceleration is an important factor affecting track safety and ride comfort, which are two primary aspects of railway systems. though track level is an important source of wagon body acceleration, no quantitative relation between them is available and the aim of this paper is to propose a method to address this issue. to do so, car body acceleration is determined using a 10 dof simulat...

Controlling multiple skyrmions in nanowires is important for their implementation racetrack memory or neuromorphic computing. Here, we report on the dynamical behavior of two interacting confined devices with a comparison to single skyrmion case. Although shrink near edges and follow helical path, different. Because leading between edge trailing one, its size reduced further collapses at lower ...

the main design criteria of ballasted railway tracks include rail deflections, rail bending stresses, rail wheel contact stresses, sleeper bending moments and ballast sleeper contact pressures. numerous criteria have been defined for the design of ballasted railway tracks owing to the various mechanical properties of track components and their complex interaction. therefore, railway track desig...