Header logo is


2010


no image
Inverse dynamics with optimal distribution of ground reaction forces for legged robot

Righetti, L., Buchli, J., Mistry, M., Schaal, S.

In Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR), pages: 580-587, Nagoya, Japan, sep 2010 (inproceedings)

Abstract
Contact interaction with the environment is crucial in the design of locomotion controllers for legged robots, to prevent slipping for example. Therefore, it is of great importance to be able to control the effects of the robots movements on the contact reaction forces. In this contribution, we extend a recent inverse dynamics algorithm for floating base robots to optimize the distribution of contact forces while achieving precise trajectory tracking. The resulting controller is algorithmically simple as compared to other approaches. Numerical simulations show that this result significantly increases the range of possible movements of a humanoid robot as compared to the previous inverse dynamics algorithm. We also present a simplification of the result where no inversion of the inertia matrix is needed which is particularly relevant for practical use on a real robot. Such an algorithm becomes interesting for agile locomotion of robots on difficult terrains where the contacts with the environment are critical, such as walking over rough or slippery terrain.

am mg

DOI [BibTex]

2010


DOI [BibTex]


no image
Laterally driven interfaces in the three-dimensional Ising lattice gas

Smith, T. H. R., Vasilyev, O., Maciolek, A., Schmidt, M.

{Physical Review E}, 82(2), 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Handbook of Hydrogen Storage

Hirscher, M.

pages: 353 p., Wiley-VCH, Weinheim, 2010 (book)

mms

[BibTex]

[BibTex]


no image
Samarium-cobalt 2:17 magnets: identifying Smn+1Co5n-1 phases stabilized by Zr

Stadelmaier, H. H., Kronmüller, H., Goll, D.

{Scripta Materialia}, 63, pages: 843-846, 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Planar metamaterial analogue of electromagnetically induced transparancy for plasmonic sensing

Liu, N., Weiss, T., Mesch, M., Langguth, L., Eigenthaler, U., Hirscher, M., Sönnichsen, C., Giessen, H.

{Nano Letters}, 10, pages: 1103-1107, 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Explaining the paradoxical diversity of ultrafast last-induced demagnetization

Koopmans, B., Malinowski, G., Dalla Longa, F., Steiauf, D., Fähnle, M., Roth, T., Cinchetti, M., Aeschlimann, M.

{Nature Materials}, 9, pages: 259-265, 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
A high heat of adsorption for hydrogen in magnesium formate

Schmitz, B., Krkljus, I., Leung, E., Höffken, H. W., Müller, U., Hirscher, M.

{ChemSusChem}, 3, pages: 758-761, 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Force induced destabilization of adhesion complexes at defined integrin spacings on nanostructured surfaces

de Beer, A. G. F., Cavalcanti-Adam, E. A., Majer, G., López-Garc\’\ia, M., Kessler, H., Spatz, J. P.

{Physical Review E}, 81, 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
The X-ray microscopy beamline UE46-PGM2 at BESSY

Follath, R., Schmidt, J. S., Weigand, M., Fauth, K.

In 10th International Conference on Synchrotron Radiation Instrumentation, 1234, pages: 323-326, AIP Conference Proceedings, American Institute of Physics, Melbourne, Australia, 2010 (inproceedings)

mms

DOI [BibTex]

DOI [BibTex]


no image
Anisotropic damping of the magnetization dynamics in Ni, Co, and Fe

Gilmore, K., Stiles, M. D., Seib, J., Steiauf, D., Fähnle, M.

{Physical Review B}, 81, 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Influence of [Mo6Br8F6]2- cluster inclusion within the mesoporous solid MIL-101 on hydrogen storage performance

Dybtsev, D., Serre, C., Schmitz, B., Panella, B., Hirscher, M., Latroche, M., Llewellyn, P. L., Cordier, S., Molard, Y., Haouas, M., Taulelle, F., Férey, G.

{Langmuir}, 26(13):11283-11290, 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Grain boundary layers in nanocrystalline ferromagnetic zinc oxide

Straumal, B. B., Myatiev, A. A., Straumal, P. B., Mazilkin, A. A., Protasova, S. G., Goering, E., Baretzky, B.

{JETP Letters}, 92(6):396-400, 2010 (article)

mms

DOI [BibTex]

DOI [BibTex]

2003


no image
Mixing in Cu/Ge system by swift heavy ions

Kumar, S., Chauhan, R. S., Singh, R. P., Kabiraj, D., Sahoo, P. K., Rumbolz, C., Srivastava, S. K., Bolse, W., Avasthi, D. K.

{Nuclear Instruments \& Methods in Physics Research Section B-Beam Interactions with Materials and Atoms}, 212, pages: 242-245, 2003 (article)

mms

[BibTex]

2003


[BibTex]


no image
Magnetic properties of [NdFeBx/Nbz]n multilayer films

Tsai, J. L., Chin, T. S., Yao, Y. D., Melsheimer, A., Fischer, S. F., Dragon, T., Kelsch, M., Kronmüller, H.

{Journal of Applied Physics}, 93(10):6915-6917, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Analysis of the temperature dependence of the coercive field of Sm2Co17 based magnets

Kronmüller, H., Goll, D.

{Scripta Materialia}, 48(7):833-838, 2003 (article)

mms

[BibTex]

[BibTex]


no image
NMR studies of hydrogen motion in nanostructured hydrogen-graphite systems

Majer, G., Stanik, E., Orimo, S.

{Journal of Alloys and Compounds}, 356-357, pages: 617-621, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Hydrogen diffusion in metallic and nanostructured materials

Majer, G., Eberle, U., Kimmerle, F., Stanik, E., Orimo, S.

{Physica B}, 328, pages: 81-89, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Grain boundary phase transitions in the Al-Mg system and their influence on high-strain rate superplasticity

Straumal, B. B., Lopez, G. A., Mittemeijer, E. J., Gust, W., Zhilyaev, A. P.

In 216-217, pages: 307-312, Moscow, Russia, 2003 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Electron density-of-states and the metal-insulator transition in LaHx

Barnes, R. G., Chang, C. T., Majer, G., Kaess, U.

{Journal of Alloys and Compounds}, 356-357, pages: 137-141, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Magnetism and the Microstructure of Ferromagnetic Solids

Kronmüller, H., Fähnle, M.

pages: 432 p., 1st ed., Cambridge University Press, Cambridge, 2003 (book)

mms

[BibTex]

[BibTex]


no image
Electronic sputtering from HOPG: A study of angular dependence

Tripathi, A., Khan, S. A., Srivastava, S. K., Kumar, M., Kumar, S., Rao, S. V. S. N., Lakshmi, G. B. V. S., Siddiqui, A. M., Bajwa, N., Nagaraja, H. S., Mittal, V. K., Szökefalvi, A., Kurth, M., Pandey, A. C., Avasthi, D. K., Carstanjen, H. D.

{Nuclear Instruments and Methods B}, 212, pages: 402-406, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Stress-induced relaxation mechanisms in single-crystalline titanomagnetites

Walz, F., Brabers, V. A. M., Brabers, J. H. V. J., Kronmüller, H.

{Journal of Physics-Condensed Matter}, 15(41):7029-7045, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Morphology and interdiffusion behavior of evaporated metal films on crystalline diindenoperylene thin films

Dürr, A. C., Schreiber, F., Kelsch, M., Carstanjen, H. D., Dosch, H., Seeck, O. H.

{Journal of Applied Physics}, 93(9):5201-5209, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Recent progress with high resolution X-ray microscopy at the XM-1

Denbeaux, G., Schneider, G., Pearson, A., Chao, W., Bates, B., Harteneck, B., Olynick, D., Anderson, E., Fischer, P., Juenger, M.

{Journal de Physique IV}, 104, pages: 9-9, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Comment on the analysis of angle-dependent X-ray magnetic circular dichroism in systems with reduced dimensionality

Ederer, C., Komelj, M., Davenport, J. W., Fähnle, M.

{Journal of Electron Spectroscopy and Related Phenomena}, 130(1-3):97-100, 2003 (article)

mms

[BibTex]

[BibTex]


no image
The electron theory of magnetism in monoatomic nanowires

Komelj, M., Ederer, C., Fähnle, M.

{Advances in Solid State Science}, 43, pages: 781-788, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Influence of grain boundary phase transitions on the diffusion-related properties

Straumal, B., Baretzky, B.

In Proceedings of the International Conference on Diffusion, Segregation and Stresses in Materials, pages: 53-64, Defect and Diffusion Forum, Scitec Publications Ltd., Moscow, Russia, 2003 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Are carbon nanostructures an efficient hydrogen storage medium?

Hirscher, M., Becher, M., Haluska, M., von Zeppelin, F., Chen, X., Dettlaff-Weglikowska, U., Roth, S.

In 356-357, pages: 433-437, Annecy, France, 2003 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Nuclear relaxation in the dideuteride of hafnium and titanium

Majer, G., Gottwald, J., Peterson, D. T., Barnes, R. G.

{Physical Review B}, 68, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Investigation of the Initial Oxidation of Surfaces of Quasicrystals by High-Resolution RBS and ERDA

Plachke, D., Khellaf, A., Kurth, M., Szökefalvi-Nagy, A., Carstanjen, H. D.

In Quasicrystals: Structure and Physical Properties, pages: 598-614, Wiley-VCH GmbH & Co. KGaA, Weinheim, 2003 (incollection)

mms

[BibTex]

[BibTex]


no image
Magnetism in systems with various dimensionalities: A comparison between Fe and Co

Ederer, C., Komelj, M., Fähnle, M.

{Physical Review B}, 68, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Magnetische Streuung an Grenz- und Viellagenschichten

Geissler, J.

Bayerische Julius-Maximilians-Universität Würzburg, Würzburg, 2003 (phdthesis)

mms

[BibTex]

[BibTex]


no image
Characterization of free volumes in amorphous and nanostructured Pr2Fe14B using positron lifetime spectroscopy

Wu, Y. C., Ye, F., Barbe, V., Sprengel, W., Reimann, K., Reichle, K. J., Goll, D., Würschum, R., Schaefer, H. E.

{Physica Status Solidi A-Applied Research}, 198(1):204-209, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Elektronentheorie der Dissipation bei ultraschneller Spindynamik

Steiauf, D.

Universität Stuttgart, Stuttgart, 2003 (mastersthesis)

mms

[BibTex]

[BibTex]


no image
The magnetization behavior of nanocrystalline permanent magnets based on the Stoner-Wohlfarth model

Zhang, H. W., Zhang, S. Y., Shen, B. G., Kronmüller, H.

{Journal of Magnetism and Magnetic Materials}, 260(3):352-360, 2003 (article)

mms

[BibTex]

[BibTex]


no image
X-ray magnetic microscopy for correlations between magnetic domains and crystal structure

Denbeaux, G., Anderson, E., Bates, B., Chao, W., Liddle, J. A., Harteneck, B., Pearson, A., Salmassi, F., Schneider, G., Fischer, P., Eimüller, T., Taylor, S., Chang, H., Kusinski, G. J.

{Journal de Physique IV}, 104, pages: 477-481, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Statistical mechanics of inhomogeneous model colloid-polymer mixtures

Brader, J. M., Evans, R., Schmidt, M.

{Molecular Physics}, 101, pages: 3349-3384, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Cluster expansion technique: An efficient tool to search for ground-state configurations of adatoms on plane surfaces

Drautz, R., Singer, R., Fähnle, M.

{Physical Review B}, 67, 2003 (article)

mms

[BibTex]


no image
Hydrogen strorage in carbon nanotubes

Becher, M., Haluska, M., Hirscher, M., Quintel, A., Skakalova, V., Dettlaff-Weglikovska, U., Chen, X., Hulman, M., Choi, Y., Roth, S., Meregalli, V., Parrinello, M., Ströbel, R., Jörissen, L., Kappes, M., Fink, J., Züttel, A., Stepanek, I., Bernier, P.

{Comptes Rendus Physique}, 4, pages: 1055-1062, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Grain boundary faceting phase transition and thermal grooving in Cu

Straumal, B. B., Polyakov, S. A., Bischoff, E., Mittemeijer, E. J., Gust, W.

In Proceedings of the International Conference on Diffusion, Segregation and Stresses in Materials, 216/217, pages: 93-100, Diffusion and Defect Data, Pt. A, Defect and Diffusion Forum, Scitec Publ., Moscow, 2003 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Thermal desorption spectroscopy as a quantitative tool to determine the hydrogen content in solids

von Zeppelin, F., Haluska, M., Hirscher, M.

{Thermochimica Acta}, 404, pages: 251-258, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Surface adsorbed atoms suppressing hydrogen permeation of Pd membranes

Yamakawa, K., Ege, M., Ludescher, B., Hirscher, M.

{Journal of Alloys and Compounds}, 352, pages: 57-59, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Experiment with a crystal-assisted positron source using 6 and 10 GeV electrons

Artru, X., Baier, V., Beloborodov, K., Bochek, G., Bogdanov, A., Bozhenok, A., Bukin, A., Burdin, S., Chehab, R., Chevallier, M., Cizeron, R., Dauvergne, D., Dimova, T., Drozdetsky, A., Druzhinin, V., Dubrovin, M., Gatignon, L., Golubev, V., Jejcic, A., Keppler, P., Kirsch, R., Kulibaba, V., Lautesse, P., Major, J., Maslov, N., Poizat, J. C., Potylitsin, A., Remillieux, J., Serednyakov, S., Shary, V., Strakhovenko, V., Sylvia, C., Vnukov, I.

{Nuclear Instruments and Methods in Physics Research B}, 201, pages: 243-252, 2003 (article)

mms

[BibTex]

[BibTex]


no image
Surface patterning of SrTiO3 by 30 keV ion irradiation

Albrecht, J., Leonhardt, S., Spolenak, R., Täffner, U., Habermeier, H. U., Schütz, G.

{Surface Science Letters}, 547, pages: L847-L852, 2003 (article)

mms

[BibTex]

[BibTex]