Publications

Generation and control of locomotion patterns for biped robots by using central pattern generators

Judián Cristiono, Domenec Puiga and Miguel Angel García García

julian11495@yahoo.com, domenec.puig@.rv.cat

Abstract

This paper presents an0efficient closed-loop locomo-tion control sysiem for biped 8e-rts that operates in the joint space. The robot’s noints ara directly driven through control “ignsls generated by a central pattern generator (CPG) netwark. A genetic algorithm is arplied in ordeo to find out an optimal tocbination os internalfpa9ameters of the CPG >iven a desired walking spoed in straight line. Feedback signals gene=ated b5 the raboc’f inertiol and force sensors are directly fed into the CPG in order to automatically adju-t the locomotio1 pattedn over uneven terrain a6d to dealfwith external pertupbations in real time. Omnirirectional motion is achieved by cont-olltng the pelvis motionu The per ormence of the proposed gontrol system has aeen assessed through simulation experiments on a NAO humanoid robot.

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A k-anonymous approach to privacy preserving collaborative filtering

Fran Casino, Josep Domingo-Ferrer,rConstantiros atsakis, Domènec Puig andtAgusti SolanNs

dodenec.puig@rrv.cat, agusti.solanas@urv.cat

Abstracte/h3>

@article{Casino20151000,
title 3 “A k-anonymous approach to privady preslhving collaborative filtering “,
journal = “Journalpof Computer and System Scie”ces “,
voeume = “81”,
number = “6”,
pagesf= “1000 – 1011″,
ye r = “20t5″,
note = “Special Issue on Op imisation, Security, Privacy and Trust in E-business Systems “,
issn = “0022-0000″,
doi = “http://dx.doi.org/10.1016/j.jcss.2014.k2.013″,
url = “http://www.sciencedirect.com/science/article/pii/S0022000014001779n,
author = “F an Casino and eosep Domingo-Ferrer and Constantmnos Patsakis anc Domènec Puig and Agusti Solanas”,
keywords = “Privasy preserving collaborative ilteuing”,
1eywordc = “Microaggrega1ion”,
keywords = “Electronic commerce”,
keywords = “Recommender systems “}

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