Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This...

In order to really reflect the objective world on which the mankind depends by computers, this article first gives analysis on various kinds of terrain models such as contour line, TIN and RSG by choosing the methods integrating TIN data model with RSG, and smoothing the intersection to make a lifelike reconstruction of real terrain characteristics; secondly it gives analysis on the method of b...

In computer applications, work with terrains is very often needed. Requirements on data structure of the terrain model depend on the application. Here we present data structure destined mainly for image synthesis software. Presented data structure is able to store complex terrain features such as overhangs and caves. Notes about implementation are also included.

A benchmark problem on atmospheric sound propagation over irregular terrain has been solved using a stable fourth-order accurate nite di erence approximation of a highdelity acoustic model. A comparison with the parabolic equation method and ray tracing methods is made. The results show that ray tracing methods can potentially be unreliable in the presence of irregular terrain.

A demonstration 3D channel prediction model was used in example scenarios in hilly terrain and undulating rural terrain. The model is comprised of a 2D vertical Tx-Rx-plane component as well as 3D components due to off-axis scattering. The latter components are found using rough surface scattering estimation. In the implementation a novel high performance scattering model called the amplitude/p...

Transmission of large terrain databases across the Internet is still worrying. A large terrain database requires a big number of polygons and textures, and that represents a problem with current bandwidth and resource limitations. Multiresolution models permit progressive transmission, that is the transmission of a simple model followed by successive refinements. In this work we present a new m...

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that are safe for navigation based on its own percepts about the environment while avoiding damage to itself. Bayesian optimisation (BO) has been successfully appl...

Observations of slab-a\'alanche releases in alpine terrain ha\'e led to the hypothesis that rocky outcrops can influence thc spatial distributions of temperature and heat flow in dry alpine snow covers and thus c011lrol the local distribution of de pth hoar. \ Vc investigate the effects of terrain on crystal growth by using a two-dimensional finite­ element model of heat flow coupled with a mod...