Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach

Robust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based...

Fatigue life and cracking characterization of engineered cementitious composites (ECC) under flexural cyclic load

This paper presents a study on cracking characterization of engineered cementitious composites (ECC) under flexural cyclic load using digital image correlation (DIC) technique. Five stress levels, namely 0.65, 0.75, 0.8, 0.85 and 0.9 of the flexural strength, were applied. Strain map at the side surface was obtained by DIC and used to drive...