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On the Centre of Mass Motion in Human Walking

International Journal of Automation and computing 2017年第5期14卷 542-551页

作者： Justin Carpentier Mehdi Benallegue Jean-Paul Laumond LAAS-CNRS University of Toulouse Humanoids Research Group National Institute of Advanced Industrial Science and Technology

The center of mass （CoM） is a key descriptor in the understanding and the analysis of bipedal locomotion. Some approaches are based on the premise that humans minimize the CoM vertical displacement. Other approaches express walking dynamics through the inverted pendulum model. Such approaches are contradictory in that they lead to two conflicting patterns to express the CoM motion： straight line segments for the first approaches and arcs of a circle for the second ones. In this paper, we show that CoM motion is a trade-off between both patterns. Specifically, CoM follows a ＂curtate cycloid＂, which is the curve described by a point rigidly attached to a wheel rolling on a flat surface. We demonstrate that all the three parameters defining a curtate cycloid only depend on the height of the subjects.

关键词： Human locomotion analytical model centre of mass locomotion signature synergies.

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Innovation in Chinese Agribusinesses： Internal Resources and External Networks

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Journal of Agricultural Science and Technology(B) 2013年第9期3卷 635-647页

作者： Danhong Chen David Abler Xia Gao Qijie Gao Department of Agricultural Economics Sociology and Education Pennsylvania State University University Park PA 16802 USA School of Economics Jinan University Jinan Shandong Province PR China Rural Development and Management China Agricultural University Beijing PR China

The existing literature on innovation concentrates mostly on large industrial firms and high-technology industries, whereas, little attention has been given to agribusiness. Empirical evidence regarding the driving forces behind innovation in agribusinesses in developing countries, China in particular is scarce. This paper helps fill that void. It develops a framework in which innovation results from synergies.between internal resources and external networks. This paper applies and tests the framework using 2003-2005 data from a panel survey of 32 leading agribusiness firms in Shandong Province, China. The empirical results indicate the importance of internal resources, external networks and the synergies.between them. We find that R＆D expenditures and the number of technical employees are internal resources that are both important to product innovation. Surprisingly, management quality is negatively related to the possession of a unique technology and new products as a proportion of all products. It is possible that management quality is associated with more formalization and rigidity in decision-making, hindering creativity and lengthening the new product development cycle. In order to develop innovative products, our results suggest that investing in R＆D and hiring more technical staff may be more effective approaches than spending on managerial talent.

关键词： Chinese agribusiness external networks internal resources product innovation synergies.

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