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Aiming to reduce the computation and implement compliant control, this paper proposes a novel inverse dynamics control strategy based on the floating-base rigid body system. The control strategy assumes that each leg of the quadruped robot organizes itself into an independent autonomous system, a serial robot. Based on this assumption, the kinematics and the dynamics models of the quadruped robot...
In cognitive radio networks, multiple discontinuous spectrum opportunities are detected by spectrum sensing and utilized together to satisfy the service requirement by spectrum aggregation. In this paper, we develop an analytical framework for joint spectrum sensing and access scheme based on Partially Observable Markov Decision Process (POMDP). Considering the hardware limitations, the spectrum aggregation...
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