FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2081128650> ?p ?o ?g. }

• W2081128650 abstract "For stable motions of position controlled humanoid robots, ZMP (Zero Moment Point) control is widely adopted, but needs to be integrated with other controllers due to its relatively slow response and the execution error of robots. While CoM (Center of Mass) control is much more directly than ZMP feedback control in the view of rejecting unknown external disturbance. In the meanwhile, we hope the position-based humanoid robot can have the whole body compliance in standing maintenance. So we proposes a CoM compliance controller to achieve stable standing of position controlled humanoid robot under unknown disturbance. The controller uses the concept of force control and integrates virtual model control with admittance control, where an AMPM (Angular Momentum including inverted Pendulum Model)-based virtual model with variable gain is designed to not only generate desired recovery force but also take the GRF (Grand Reaction Force) constraints into account, while an admittance controller is employed to transform the desired force to expected CoM position and body attitude. The experiments were conducted on the humanoid robot ‘Kong’ by exerting external force disturbance and changing the slope of the ground to demonstrate the effectiveness and robustness of our method." @default.
• W2081128650 created "2016-06-24" @default.
• W2081128650 creator A5001657537 @default.
• W2081128650 creator A5019081110 @default.
• W2081128650 creator A5059414395 @default.
• W2081128650 creator A5076938400 @default.
• W2081128650 date "2014-05-01" @default.
• W2081128650 modified "2023-10-13" @default.
• W2081128650 title "Compliance control for standing maintenance of humanoid robots under unknown external disturbances" @default.
• W2081128650 cites W1976272837 @default.
• W2081128650 cites W1978023077 @default.
• W2081128650 cites W2036484113 @default.
• W2081128650 cites W2062940189 @default.
• W2081128650 cites W2096291722 @default.
• W2081128650 cites W2115933773 @default.
• W2081128650 cites W2119898981 @default.
• W2081128650 cites W2130117525 @default.
• W2081128650 cites W2139889932 @default.
• W2081128650 cites W2149606028 @default.
• W2081128650 cites W2158030692 @default.
• W2081128650 cites W2162109810 @default.
• W2081128650 cites W2168936093 @default.
• W2081128650 cites W2539534359 @default.
• W2081128650 cites W2539915646 @default.
• W2081128650 cites W3145941942 @default.
• W2081128650 doi "https://doi.org/10.1109/icra.2014.6907177" @default.
• W2081128650 hasPublicationYear "2014" @default.
• W2081128650 type Work @default.
• W2081128650 sameAs 2081128650 @default.
• W2081128650 citedByCount "16" @default.
• W2081128650 countsByYear W20811286502015 @default.
• W2081128650 countsByYear W20811286502016 @default.
• W2081128650 countsByYear W20811286502017 @default.
• W2081128650 countsByYear W20811286502019 @default.
• W2081128650 countsByYear W20811286502020 @default.
• W2081128650 countsByYear W20811286502022 @default.
• W2081128650 countsByYear W20811286502023 @default.
• W2081128650 crossrefType "proceedings-article" @default.
• W2081128650 hasAuthorship W2081128650A5001657537 @default.
• W2081128650 hasAuthorship W2081128650A5019081110 @default.
• W2081128650 hasAuthorship W2081128650A5059414395 @default.
• W2081128650 hasAuthorship W2081128650A5076938400 @default.
• W2081128650 hasConcept C104317684 @default.
• W2081128650 hasConcept C108811297 @default.
• W2081128650 hasConcept C119599485 @default.
• W2081128650 hasConcept C121332964 @default.
• W2081128650 hasConcept C127413603 @default.
• W2081128650 hasConcept C154945302 @default.
• W2081128650 hasConcept C158622935 @default.
• W2081128650 hasConcept C17500928 @default.
• W2081128650 hasConcept C17829176 @default.
• W2081128650 hasConcept C185592680 @default.
• W2081128650 hasConcept C19245436 @default.
• W2081128650 hasConcept C192921069 @default.
• W2081128650 hasConcept C203479927 @default.
• W2081128650 hasConcept C2775924081 @default.
• W2081128650 hasConcept C31531917 @default.
• W2081128650 hasConcept C41008148 @default.
• W2081128650 hasConcept C44154836 @default.
• W2081128650 hasConcept C47446073 @default.
• W2081128650 hasConcept C55493867 @default.
• W2081128650 hasConcept C60692881 @default.
• W2081128650 hasConcept C62520636 @default.
• W2081128650 hasConcept C63479239 @default.
• W2081128650 hasConcept C6557445 @default.
• W2081128650 hasConcept C86803240 @default.
• W2081128650 hasConcept C90509273 @default.
• W2081128650 hasConceptScore W2081128650C104317684 @default.
• W2081128650 hasConceptScore W2081128650C108811297 @default.
• W2081128650 hasConceptScore W2081128650C119599485 @default.
• W2081128650 hasConceptScore W2081128650C121332964 @default.
• W2081128650 hasConceptScore W2081128650C127413603 @default.
• W2081128650 hasConceptScore W2081128650C154945302 @default.
• W2081128650 hasConceptScore W2081128650C158622935 @default.
• W2081128650 hasConceptScore W2081128650C17500928 @default.
• W2081128650 hasConceptScore W2081128650C17829176 @default.
• W2081128650 hasConceptScore W2081128650C185592680 @default.
• W2081128650 hasConceptScore W2081128650C19245436 @default.
• W2081128650 hasConceptScore W2081128650C192921069 @default.
• W2081128650 hasConceptScore W2081128650C203479927 @default.
• W2081128650 hasConceptScore W2081128650C2775924081 @default.
• W2081128650 hasConceptScore W2081128650C31531917 @default.
• W2081128650 hasConceptScore W2081128650C41008148 @default.
• W2081128650 hasConceptScore W2081128650C44154836 @default.
• W2081128650 hasConceptScore W2081128650C47446073 @default.
• W2081128650 hasConceptScore W2081128650C55493867 @default.
• W2081128650 hasConceptScore W2081128650C60692881 @default.
• W2081128650 hasConceptScore W2081128650C62520636 @default.
• W2081128650 hasConceptScore W2081128650C63479239 @default.
• W2081128650 hasConceptScore W2081128650C6557445 @default.
• W2081128650 hasConceptScore W2081128650C86803240 @default.
• W2081128650 hasConceptScore W2081128650C90509273 @default.
• W2081128650 hasLocation W20811286501 @default.
• W2081128650 hasOpenAccess W2081128650 @default.
• W2081128650 hasPrimaryLocation W20811286501 @default.
• W2081128650 hasRelatedWork W1829175078 @default.
• W2081128650 hasRelatedWork W2034988786 @default.
• W2081128650 hasRelatedWork W2120357486 @default.
• W2081128650 hasRelatedWork W2133801610 @default.
• W2081128650 hasRelatedWork W2151003079 @default.

• next