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We introduce a comprehensive biomechanical model of the human upper body. Our model confronts the combined challenge of modeling and controlling more or less all of the relevant articular bones and muscles, as well as simulating the physics-based deformations of the soft tissues. Its dynamic skeleton comprises 68 bones with 147 jointed degrees of freedom,(More)
The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As the location of its effective total mass, and consequently, the point of resultant action of gravity, the CoM is also the point where the robot’s aggregate linear momentum and angular momentum are naturally defined. The overarching purpose of this paper is to refocus(More)
This paper describes Newton and quasi-Newton optimization algorithms for dynamics-based robot movement generation. The robots that we consider are modeled as rigid multibody systems containing multiple closed loops, active and passive joints, and redundant actuators and sensors. While one can, in principle, always derive in analytic form the equations of(More)
This paper considers the problem of geocasting in mobile ad hoc networks. Geocasting, a variation on the notion of multicasting, is a mechanism to deliver messages of interest to all nodes within a certain geographical target region. Although several geocasting protocols have already been proposed for mobile ad hoc networks, with the goal of achieving an(More)
BACKGROUND The sequelae during the first two decades after acute hepatitis C virus (HCV) infection have been well studied, but the outcome thereafter is unknown. OBJECTIVE To conduct an extended study of the natural history of HCV infection by using archived serum specimens originally collected between 1948 and 1954. DESIGN Retrospective cohort study.(More)
Unlike the human face, the neck has been largely overlooked in the computer graphics literature, this despite its complex anatomical structure and the important role that it plays in supporting the head in balance while generating the controlled head movements that are essential to so many aspects of human behavior. This paper makes two major contributions.(More)
Recent research suggests the importance of controlling rotational dynamics of a humanoid robot in balance maintenance and gait. In this paper, we present a novel balance strategy that controls both linear and angular momentum of the robot. The controller’s objective is defined in terms of the desired momenta, allowing intuitive control of the balancing(More)
In this paper, we propose a frame rate upconversion algorithm using the weighted-adaptive motioncompensated interpolation (WAMCI) that reduces the block artifacts due to the failure of motion estimation and blockbased processing. The proposed method is based on the interpolation scheme by weighted sum of multiple motioncompensated interpolation (MCI)(More)