We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correction and leg extension reflexes

language tools that optimize router configurations and ensure they satisfy simple invariants. Due to Click’s architecture and language, Click router configurations are modular and easy to extend. A standards-compliant Click IP router has sixteen elements on its forwarding path. We present extensions

This paper provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and computer vision, including a brief

We consider the problem of detecting communities or modules in networks, groups of vertices with a higher-than-average density of edges connecting them. Previous work indicates that a robust approach to this problem is the maximization of the benefit function known as “modularity ” over possible

This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning

We extend earlier ideas about the appearance of noncommutative geometry in string theory with a nonzero B-field. We identify a limit in which the entire string dynamics is described by a minimally coupled (supersymmetric) gauge theory on a noncommutative space, and discuss the corrections away from

covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than

significantly limited the performance, flexibility, and functionality of applications. The exokernel architecture removes these limitations by allowing untrusted software to implement traditional operating system abstractions entirely at application-level. We have implemented a prototype exokernel-based system

of our framework are that computer capital (1) substitutes for a limited and well-defined set of human activities, those involving routine (repetitive) cognitive and manual tasks; and (2) complements a second set of activities, those involving non-routine problem solving and interactive tasks. Under

-backed coup deposed the reformist government of Col. Jacobo Arbenz Guzmán in 1954. Moderates of the political center. embattled but alive in E1 Salvador, have virtually disappeared in Guatemala-joining more than 30.000 victims of terror over the last tifteen vears. “The situation in Guatemala is much more