Sharif Digital Repository

Humanoid robots have recently been the subject of many new and interesting fields both in robotics research and industry. The wide variety of their applications in civic and hostile environments demand developing approperiate theoretical models for analysis. A dynamical model was developed to study the human jumping process, and the effect of factors like joint speeds and hand motion in jumping. An experiment was designed and setup to compare the theoretical model with experimental observations. Time histories of vertical force, mass center velocity and driving torques were also obtained. Using dynamical equations, the effect of joint speeds on the maximum values of these quantities is... 

In this chapter we study stochastic processes in the presence of jump discontinuity, and discuss the meaning of non-vanishing higher-order Kramers–Moyal coefficients. We describe in details the stochastic properties of Poisson jump processes. We derive the statistical moments of the Poisson process and the Kramers–Moyal coefficients for pure Poisson jump events. Growing evidence shows that continuous stochastic modeling (white noise-driven Langevin equation) of time series of complex systems should account for the presence of discontinuous jump components [1–6]. Such time series have some distinct important characteristics, such as heavy tails and occasionally sudden large jumps.... 

In this chapter we study stochastic processes in the presence of jump discontinuity, and discuss the meaning of non-vanishing higher-order Kramers–Moyal coefficients. We describe in details the stochastic properties of Poisson jump processes. We derive the statistical moments of the Poisson process and the Kramers–Moyal coefficients for pure Poisson jump events. Growing evidence shows that continuous stochastic modeling (white noise-driven Langevin equation) of time series of complex systems should account for the presence of discontinuous jump components [1–6]. Such time series have some distinct important characteristics, such as heavy tails and occasionally sudden large jumps.... 

We study electrowetting induced droplet jumping over a system consisting of a flat surface and a topographical bump mounted on the surface. Different bump shapes including triangular and elliptical configurations are considered and the results are compared with the results of the flat surface. The results indicate that droplet jumping is enhanced over the bumps and the droplet jumps to larger heights compared with the flat surface because of the lower viscous dissipation. The shape of the bump can considerably affect the droplet dynamics. Between the considered shapes the triangular bump provides a larger dynamic and the droplet on the surface with this bump can jump with larger velocity....