Passive Earth Pressure in Narrow Cohesive-Frictional Backfills

A narrow backfill zone is formed when retaining walls are built near existing stabilized structures (e.g., rock faces). In such circumstances, the classical passive earth pressure coefficient is no longer applicable, and a correction factor is required for the design. This paper aims to develop analytical solutions for estimating the passive...

Safe and Adaptive 3-D Locomotion via Constrained Task-Space Imitation Learning

Bipedal locomotion has been widely studied in recent years, where passive safety (i.e., a biped rapidly brakes without falling) is deemed to be a pivotal problem. To realize safe 3-D walking, existing works resort to nonlinear optimization techniques based on simplified dynamics models, requiring hand-tuned reference trajectories. In this...