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• W1973998728 abstract "This paper proposes a physics-based framework to generate rolling behaviors with significant rotational components. The proposed technique is a general approach for guiding coordinated action that can be layered over existing control architectures through the purposeful regulation of specific whole-body features. Namely, we apply control for rotation through the specification and execution of specific desired 'rotation indices' for whole-body orientation, angular velocity and angular momentum control. We account for the stylistic components of behaviors through reference posture control. The novelty of the described work includes control over behaviors with considerable rotational components as well as a number of characteristics useful for general control, such as flexible posture tracking and contact control planning." @default.
• W1973998728 created "2016-06-24" @default.
• W1973998728 creator A5000237739 @default.
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• W1973998728 date "2013-07-19" @default.
• W1973998728 modified "2023-09-27" @default.
• W1973998728 title "Control of rotational dynamics for ground behaviors" @default.
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• W1973998728 doi "https://doi.org/10.1145/2485895.2485906" @default.
• W1973998728 hasPublicationYear "2013" @default.
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