相关论文: Random walk and balancing

Issues of resonance that appear in non-standard random walk models are discussed. The first walk is called repulsive delayed random walk, which is described in the context of a stick balancing experiment. It will be shown that a type of…

Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…

We consider a one dimensional random walk in random environment that is uniformly biased to one direction. In addition to the transition probability, the jump rate of the random walk is assumed to be spatially inhomogeneous and random. We…

The purpose of this note is to collect in one place a few results about simple random walk and Brownian motion which are often useful. These include standard results such as Beurling estimates, large deviation estimates, and a method for…

Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…

Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…

The normal and the inverted pendulum continue to be one of the main physical models and metaphors in science. The inverted pendulum is also a classic study case in control theory. In this paper we consider a special demonstration version of…

There have been extensive studies of a random walk among a field of immobile traps (or obstacles), where one is interested in the probability of survival as well as the law of the random walk conditioned on its survival up to time $t$. In…

Random walks as well as diffusions in random media are considered. Methods are developed that allow one to establish large deviation results for both the `quenched' and the `averaged' case.

Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…

When facing a task of balancing a dynamic system near an unstable equilibrium, humans often adopt intermittent control strategy: instead of continuously controlling the system, they repeatedly switch the control on and off. Paradigmatic…

In this minireview we present the main results regarding the transport properties of stochastic movement with relocations to known positions. To do so, we formulate the problem in a general manner to see several cases extensively studied…

The random walk with hyperbolic probabilities that we are introducing is an example of stochastic diffusion in a one-dimensional heterogeneous media. Although driven by site-dependent one-step transition probabilities, the process retains…

Random walks and related spatial stochastic models have been used in a range of application areas including animal and plant ecology, infectious disease epidemiology, developmental biology, wound healing, and oncology. Classical random walk…

Simple random walks on various types of partially horizontally oriented regular lattices are considered. The horizontal orientations of the lattices can be of various types (deterministic or random) and depending on the nature of the…

A number of papers have examined various aspects of "random random" walks on finite groups; the purpose of this article is to provide a survey of this work and to show, bring together, and discuss some of the arguments and results in this…

Motivated by recent studies in human balance control, we study a delayed random walk with an unstable fixed point. It is observed that the random walker moves away from the unstable fixed point more slowly than is observed in the absence of…

Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occurs. We propose a control framework that…

The random walk process in a nonhomogeneous medium, characterised by a L\'evy stable distribution of jump length, is discussed. The width depends on a position: either before the jump or after that. In the latter case, the density slope is…