Abstract: The present invention provides a whole-body compliance control method applied to a fast and stable walking biped robot, and the control method includes: obtaining a plantar stress and a plantar moment based on information of a foot force sensor to estimate an actual ZMP position of the robot; designing a centroid compliance controller based on the actual ZMP position of the robot to correct a centroid acceleration; designing a plantar position compliance controller based on a double spring-damper model according to the plantar stress to correct a foot height; designing a plantar posture compliance controller based on the plantar moment to correct a plantar posture; adding corrected centroid and foot values into an originally desired trajectory; and obtaining motor angles of various joints.

Abstract: A sports lighting fixture including a single cast body which combines the functions of the base, heatsink, reflector housing, and interconnection gaskets, with many cast female holes that are later tapped with threads to eliminate the need for any nuts as fasteners. As a result, the single body becomes multi-functional. Channels may be cast into the single piece body to allow for heat pipes to be press fit. Several locations on the body may include tapped holes to attach mounting hardware (lens retainer), visors, power supply, and LED array printed circuit board. The body includes a cavity to receive a reflector. The reflector may be a single unit or segmented. The cavity may alternatively be coated with reflective material. The body incudes heat fins which extend from the back of the fixture and transition forward around the reflector cavity toward a front opening.

Abstract: A light shaping apparatus consisting of two or more components which may be die cast from aluminum, magnesium, or similar materials that are meant to be attached to existing LED venue lighting fixtures. These components are designed so that they can be rotated and adjusted on the fixture circumference/edge. A semi-circular snoot flares out slightly from the outer edge of the fixture to reflect light that would normally be absorbed by a visor. The snoot may include a reflector on its inside surface. The snoot has connection points that mate with the fixture. The snoot also has connection points which allow it to be connected to a semi-circular bowl spaded brow adapted for cutting into the beam of light and block some of light emitted from the fixture. The brow is preferably one piece and has multiple sets of thin shear lines cast into it such that the length of the brow can be modified by breaking off material along the shear lines.

Abstract: A light shaping apparatus consisting of two or more components which may be die cast from aluminum, magnesium, or similar materials that are meant to be attached to existing LED venue lighting fixtures. These components are designed so that they can be rotated and adjusted on the fixture circumference/edge. A semi-circular snoot flares out slightly from the outer edge of the fixture to reflect light that would normally be absorbed by a visor. The snoot may include a reflector on its inside surface. The snoot has connection points that mate with the fixture. The snoot also has connection points which allow it to be connected to a semi-circular bowl spaded brow adapted for cutting into the beam of light and block some of light emitted from the fixture. The brow is preferably one piece and has multiple sets of thin shear lines cast into it such that the length of the brow can be modified by breaking off material along the shear lines.

Abstract: A sports lighting fixture including a single cast body which combines the functions of the base, heatsink, reflector housing, and interconnection gaskets, with many cast female holes that are later tapped with threads to eliminate the need for any nuts as fasteners. As a result, the single body becomes multi-functional. Channels may be cast into the single piece body to allow for heat pipes to be press fit. Several locations on the body may include tapped holes to attach mounting hardware (lens retainer), visors, power supply, and LED array printed circuit board. The body includes a cavity to receive a reflector. The reflector may be a single unit or segmented. The cavity may alternatively be coated with reflective material. The body incudes heat fins which extend from the back of the fixture and transition forward around the reflector cavity toward a front opening.

Abstract: Systems and methods may provide for receiving an image of a user of a mobile device and analyzing the image to determine whether a rotation condition is present with respect to the mobile device relative to a face of the user. Additionally, content on a screen of the mobile device may be rotated if the rotation condition. In one example, the analysis of the image includes identifying one or more of a head shape and an eye position in the image, wherein the image is received while the user is lying down.