Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait ...Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait more close to natural human-like gait. The proposed model extends the simplest walking model with the addition of fiat feet and torsional spring based compliance on ankle joints and toe joints, to achieve stable walking on a slope driven by gravity. The push-off phase includes foot rotations around the toe joint and around the toe tip, which shows a great resemblance to human normal walking. This paper investigates the effects of the segmented foot structure on bipedal walking in simulations. The model achieves satisfactory walking results on even or uneven slopes.展开更多
Micromechanics aims mainly at establishing the quantitative relation between the macroscopic mechanical behavior and the microstructure of heterogeneous materials.
Considering a periodic review system where the online seller allows the customers to pay when the products are delivered to them(referred as cash-on-delivery payment scheme in this paper),the authors investigate the s...Considering a periodic review system where the online seller allows the customers to pay when the products are delivered to them(referred as cash-on-delivery payment scheme in this paper),the authors investigate the seller's joint pricing and inventory control policy with a finite planning horizon.In particular,the authors incorporate the customers' possible order cancellation behavior with the cash-on-delivery scheme.It can be proven that the base-stock list price policy is optimal under mild conditions.The authors also analyze the impact of the customers' forward looking behavior on the optimal policy.展开更多
基金supported by the National Natural Science Foundation of China (61005082, 61020106005)Doctoral Fund of Ministry of Education of China (20100001120005)+1 种基金PKU-Biomedical Engineering Join Seed Grant 2012the 985 Project of PekingUniversity (3J0865600)
文摘Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait more close to natural human-like gait. The proposed model extends the simplest walking model with the addition of fiat feet and torsional spring based compliance on ankle joints and toe joints, to achieve stable walking on a slope driven by gravity. The push-off phase includes foot rotations around the toe joint and around the toe tip, which shows a great resemblance to human normal walking. This paper investigates the effects of the segmented foot structure on bipedal walking in simulations. The model achieves satisfactory walking results on even or uneven slopes.
文摘Micromechanics aims mainly at establishing the quantitative relation between the macroscopic mechanical behavior and the microstructure of heterogeneous materials.
基金supported by the National Natural Science Foundation of China under Grant Nos.71201175,71301032,and 71171088Guangdong Natural Science Foundation under Grant Nos.S2011040001069 and S2012040008081Guangdong Educational Bureau Humanity&Social Science Fund under Grant No.2013WYXM0001
文摘Considering a periodic review system where the online seller allows the customers to pay when the products are delivered to them(referred as cash-on-delivery payment scheme in this paper),the authors investigate the seller's joint pricing and inventory control policy with a finite planning horizon.In particular,the authors incorporate the customers' possible order cancellation behavior with the cash-on-delivery scheme.It can be proven that the base-stock list price policy is optimal under mild conditions.The authors also analyze the impact of the customers' forward looking behavior on the optimal policy.
