It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior knowledge or high-fidelity sensing of the environment. However, during dynamic locomotion in complex, novel, 3D terrains, such as a forest floor and building rubble, sensing and planning suffer bandwidth limitation and large noise and are sometimes even impossible. Here, we study rapid locomotion over a large gap-a simple, ubiquitous obstacle-to begin to discover the general principles of the dynamic traversal of large 3D obstacles. We challenged the discoid cockroach and an open-loop six-legged robot to traverse a large gap of varying length. Both the animal and the robot could dynamically traverse a gap as large as one body length by bridging the gap with its head, but traversal probability decreased with gap length. Based on these observations, we developed a template that accurately captured body dynamics and quantitatively predicted traversal performance. Our template revealed that a high approach speed, initial body pitch, and initial body pitch angular velocity facilitated dynamic traversal, and successfully predicted a new strategy for using body pitch control that increased the robot's maximal traversal gap length by 50%. Our study established the first template of dynamic locomotion beyond planar surfaces, and is an important step in expanding terradynamics into complex 3D terrains.

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Abstract-In Jude the Obscure, Sue Bridehead is an image of complex, puzzling unstateable and knowledgeable Victorian woman. She has a particular narcissistic psyche which Hardy deliberately depicts. By the comparison between his vivid and acute depiction and Freud's analysis on the narcissism, we can probe into Hardy's sensitive insights into the psychology of human being.

Based on data of 31 provinces of China in 2019 collected from the National Bureau of Statistics, this paper explores the impact of the number of urban employees' endowment insurance on the total retail sales of social consumer goods in different provinces in China. Taking the population, per capita disposable income, per capita life expectancy and regional per capita GDP of each province as the variables, this paper establishes regression models to do the empirical research. The results show that: (1) The increase of the number of urban employees' old-age insurance has a significant positive impact on residents' consumption. The wider the coverage of old-age insurance, the more it can enhance the consumption confidence of the residents. (2) Due to the economic development, the level of urbanization has been greatly improved, leading to an increased birth rate and total population, and thus consumption has been driven. Therefore, the increase of the total population has a significant positive effect on the increase of the total retail sales of social consumer goods. (3) The increase of per capita disposable income has insignificant impact on the increase of total retail sales of social consumer goods due to residents' debt, the rise of house prices, the rapid widening of income gap between different groups and the difficulty of meeting the various needs of people. (4) Although the increase of life expectancy per capita will lead to the decrease of total retail sales of social consumer goods, this decrease is not significant. (5) Per capita GDP will lead to a small increase in the total retail sales of social consumption. Finally, based on the above conclusions, some suggestions to stimulate consumption are given.