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22,515
Biped Robot Walking Using GravityCompensated Inverted Pendulum Mode
, 1998
"... This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped l ..."
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This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped
KodairaSpencer theory of gravity and exact results for quantum string amplitudes
 Commun. Math. Phys
, 1994
"... We develop techniques to compute higher loop string amplitudes for twisted N = 2 theories with ĉ = 3 (i.e. the critical case). An important ingredient is the discovery of an anomaly at every genus in decoupling of BRST trivial states, captured to all orders by a master anomaly equation. In a particu ..."
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Cited by 545 (60 self)
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We develop techniques to compute higher loop string amplitudes for twisted N = 2 theories with ĉ = 3 (i.e. the critical case). An important ingredient is the discovery of an anomaly at every genus in decoupling of BRST trivial states, captured to all orders by a master anomaly equation. In a particular realization of the N = 2 theories, the resulting string field theory is equivalent to a topological theory in six dimensions, the Kodaira– Spencer theory, which may be viewed as the closed string analog of the Chern–Simon theory. Using the mirror map this leads to computation of the ‘number ’ of holomorphic curves of higher genus curves in Calabi–Yau manifolds. It is shown that topological amplitudes can also be reinterpreted as computing corrections to superpotential terms appearing in the effective 4d theory resulting from compactification of standard 10d superstrings on the corresponding N = 2 theory. Relations with c = 1 strings are also pointed out.
String theory and noncommutative geometry
 JHEP
, 1999
"... We extend earlier ideas about the appearance of noncommutative geometry in string theory with a nonzero Bfield. 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 ..."
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Cited by 801 (8 self)
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We extend earlier ideas about the appearance of noncommutative geometry in string theory with a nonzero Bfield. 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 this limit. Our analysis leads us to an equivalence between ordinary gauge fields and noncommutative gauge fields, which is realized by a change of variables that can be described explicitly. This change of variables is checked by comparing the ordinary DiracBornInfeld theory with its noncommutative counterpart. We obtain a new perspective on noncommutative gauge theory on a torus, its Tduality, and Morita equivalence. We also discuss the D0/D4 system, the relation to Mtheory in DLCQ, and a possible noncommutative version of the sixdimensional (2, 0) theory. 8/99
Planning Algorithms
, 2004
"... 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, planning ..."
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Cited by 1108 (51 self)
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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, planning under uncertainty, sensorbased planning, visibility, decisiontheoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
The Inverted Pendulum System
"... The inverted pendulum system is a popular demonstration of using feedback control to stabilize an openloop unstable system. The first solution to this problem was described by Roberge [1] in his aptly named thesis, “The Mechanical Seal. ” Subsequently, it has been used in many books and papers as a ..."
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The inverted pendulum system is a popular demonstration of using feedback control to stabilize an openloop unstable system. The first solution to this problem was described by Roberge [1] in his aptly named thesis, “The Mechanical Seal. ” Subsequently, it has been used in many books and papers
Results 1  10
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22,515