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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 up-conversion algorithm using the weighted-adaptive motion-compensated interpolation (WAMCI) that reduces the block artifacts due to the failure of motion estimation and block-based processing. The proposed method is based on the interpolation scheme by weighted sum of multiple motion-compensated interpolation (MCI)(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)
A number of conceptually simple but behavior-rich "inverted pendulum" humanoid models have greatly enhanced the understanding and analytical insight of humanoid dynamics. However, these models do not incorporate the robot's angular momentum properties, a critical component of its dynamics. We introduce the reaction mass pendulum (RMP) model, a 3D(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)
The GacS/GacA two-component regulatory system activates the production of secondary metabolites including phenazines crucial for biological control activity in Pseudomonas chlororaphis 30-84. To better understand the role of the Gac system on phenazine regulation, transcriptomic analyses were conducted by comparing the wild-type strain to a gacA mutant.(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)