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Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
Chengtian Ma, Yunyue Wei, Chenhui Zuo, Chen Zhang, Yanan Sui
https://arxiv.org/abs/2506.09383

Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a hierarchical control pipeline for simulating human balance via a comprehensive whole-body musculoskeletal system. We identified spatiotemporal dynamics of balancing during stable standing, revealed the impact of muscle injury on balancing behavior, and genera…

Efficient broadband terahertz generation by above band-gap excitation of the pyroelectric ZnSnN2
T. S. Seifert, H. Hempel, O. G\"uckstock, R. Schneider, Q. Remy, A. Fioretti, T. Unold, S. Michaelis de Vasconcellos, R. Bratschitsch, R. Eichberger, K. D\"orr, A. Zakutayev, T. Kampfrath
https://arxiv.org/abs/2506.09528

Efficient broadband terahertz generation by above band-gap excitation of the pyroelectric ZnSnN2
Terahertz (THz) radiation is a powerful probe of low-energy excitations in all phases of matter. However, it remains a challenge to find materials that efficiently generate THz radiation in a broad range of frequencies following optical excitation. Here, we investigate a pyroelectric material, ZnSnN2, and find that above-band-gap excitation results in the efficient formation of an ultrafast photocurrent generating THz radiation. The resulting THz electric field spans a frequency range from belo…