With this paper we focus on one feature of our contact planner, namely the posture generation, that was under-used so far. We describe it carefully and show we can take advantage of the underlying optimization-based scheme to perform richer planning by the introduction of generic tasks that are not related to locomotion. We then apply with success the resulting improved planner to a challenging...

The binding behavior of a competitive inhibitor, N-phenylbenzhydroxamic acid (BHA) against horseradish peroxidase (HRP) was studied in order to understand and predict the interaction mechanism of hydrogen donors with the enzyme. The dissociation constants of the complexes of HRP-BHA, HRP-donor and HRP-BHA-azide were estimated at specified conditions by difference spectroscopy. The binding s...

We aim at planning multi-contact sequences of stances and postures for humanoid robots. The output sequence defines the contact transitions that allow our robot to realize different kind of tasks, ranging from biped locomotion to dexterous manipulation. The central component of the planning framework is a best-first algorithm that performs a search of the contacts to be added or removed at each...

during childbirth JP Vogel, MA Bohren, Ӧ Tunc alp, OT Oladapo, AM G€ ulmezoglu a UNDP/UNFPA/UNICEF/WHO/World Bank Special Programme of Research, Development and Research Training in Human Reproduction (HRP), Department of Reproductive Health and Research, World Health Organization, Geneva, Switzerland b Department of Population, Family and Reproductive Health, Johns Hopkins Bloomberg School of ...

The purpose of this research is examining the influence of organizational learning and knowledge management in enterprise resource planning implementation. This study is based on organizational learning, knowledge management and enterprise resource planning implementation. This research did not test all organizational factors and focus particularly on knowledge management capacity and absorptiv...

In this paper we present a humanoid robot, HRP-2P, which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down and get up. Biped walking is realized by a walking pattern generator using a preview control and a feedback control. The lying down and getting up motions were made possible by HRP...