In our previous studies (Li and Zhong, 2021a; Li 2021b), the commonly reported issue that most of existing mapped WENO schemes suffer from either losing high resolutions or generating spurious oscillations in long-run simulations hyperbolic problems has been successfully addressed, by devising improved schemes, namely MOP-WENO-X, where “X” stands for version scheme. However, all MOP-WENO-X brin...

In the present paper, an attempt has been made to carry out kinematic and dynamic analysis of a six-legged robot. A three-revolute (3R) kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect. Denavit–Hartenberg (D-H) conventions are used to perform kinematic analysis of the six-legged robot. The direct and inverse kinematic analysis for each leg ...

It is a remarkable fact that MHV amplitudes in maximally supersymmetric Yang-Mills theory at arbitrary loop order can be written as the product of the tree amplitude with the same helicity configuration and a universal, helicity-blind function of the kinematic invariants. In this note we show how for one-loop MHV amplitudes with an arbitrary number of external legs this universal function can b...

Kinematic analysis is used for trajectory planning of robotic manipulators and is an integral step of their design. The main idea behind kinematic analysis is to study the motion of the robot based on the geometrical relationship of the robotic links and their joints. Given the continuous nature of kinematic analysis, traditional computer-based verification methods, such as simulation, numerica...

Robots operating in home environments must be able to interact with articulated objects such as doors or drawers. Ideally, robots are able to autonomously infer articulation models by observation. In this paper, we present an approach to learn kinematic models by inferring the connectivity of rigid parts and the articulation models for the corresponding links. Our method uses a mixture of param...

An Unmanned Aerial Vehicle (UAV) has to possess three abilities to function autonomously. The three abilities are localization, mapping and path planning. Path planning guides the UAV to find a feasible path, meaning a path that meets safety, kinematic and optimization constrains. In order to intercept a moving target, dynamic path planning must be used due to target movement. To produce a feas...

Robustness is pivot for robots operating in all-terrain environments. This demand comes mainly due to the highly heterogeneous and unstructured nature of the terrain. Two particular topics are sensitive to this problem: locomotion control and wheel odometry. A behaviour-based approach is proposed for the locomotion control system, whereas a heuristic exploiting the kinematic and dynamical const...

Highly accurate avatars of humans promise a new level of realism in engineering and entertainment applications, including areas such as computer animated movies, computer game development, interactive virtual environments and telepresence. In order to provide high-quality avatars, new techniques for the automatic acquisition and creation are required. A framework for the capture and constructio...