A Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion

Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper, we aim at designing a walking pattern generator which employs an optimal combination of these tools to generate robust gaits. In this approach, first, the next step location and timing are decided consistent with the commanded walking velocity and based on the Divergent Component of Motion (DCM) measurement. This stage which is done by a very small-size Quadratic Program (QP) uses the Linear Inverted Pendulum Model (LIPM) dynamics to adapt the switching contact location and time. Then, consistent with the first stage, the LIPM with flywheel dynamics is used to regenerate the DCM and angular momentum trajectories at each control cycle. This is done by modulating the CoP and Centroidal Momentum Pivot (CMP) to realize a desired DCM at the end of current step. Simulation results show the merit of this reactive approach in generating robust and dynamically consistent walking patterns

Use of Green Fluorescent Protein (GFP) Vector in Classical Restriction Enzyme-based Cloning Methods of Gateway Cloning System

Generating of an expression clone that can produce the pharmaceutical proteins in an efficient and soluble form at high levels is considered as an important step in pharmaceutical industry. Recombination-based cloning could be a quick and efficient way for generating expression vectors. Thus, both efficient and robust subcloning is vital for the construction of gene expression vectors. In this study, we used the traditional restriction enzyme-based cloning methods for generation of expression-ready clones by the most well-known commercial cloning technologies, Gateway

Pesticides Removal Using Sorption to Iron Oxide Coated Sand

Environmental Engineerin

Development of Biological Permeable Barriers for Removal of 2,4,6 Trichlorophenol in Contaminated Groundwater

Civil Engineerin

The Necessity of Redefining and Presenting a New Perception on the Comprehensive Interpretation of the Holy Quran

The Holy Quran is an infinite ocean which benefits everyone to the extent of their scientific ability and scope of existence. This divine book would not be only a text; rather, its interpretation and explanation open various chapters of science, wisdom, and knowledge to human beings. Therefore, the only way to enter this gate of science, wisdom, and knowledge is its interpretation. Up to now, various approaches and interpretive books have been emerged to decipher and decode this divine blessing, but non of them has been perfect, and each is considered as a defect. Therefore, the best and the safest way would be to refer to a new definition of the “comprehensive” interpretation. In the following research paper, we will try to express the need and necessity of applying a comprehensive approach to the interpretation of the Holy Quran, providing a new definition of it in the description of the divine words