Matches in SemOpenAlex for { <https://semopenalex.org/work/W2113254059> ?p ?o ?g. }
Showing items 1 to 87 of
87
with 100 items per page.
- W2113254059 abstract "This paper first formally defines a general class of three dimensional rectifier systems which capture the essential aspects of animal locomotion, then formulates an optimal gait problem, and finally solves an approximation of the problem to obtain a globally optimal solution. The approximation assumes small-amplitude harmonic oscillations of mechanical joints about a nominal posture. The problem is formulated as a minimization of a quadratic cost function subject to an average velocity constraint, which is solved with an additional amplitude constraint in a Pareto-optimal fashion to ensure that the solution to the approximate problem is valid for the original. The solution method is fast and numerically stable, using generalized eigenvalues and eigenvectors of a pair of Hermitian matrices, and is able to easily handle underactuated or hyper-redundant systems. We provide case studies of a chain of links representing a radially symmetric jellyfish-like animal, or two limbs pushing a central body forward. It is demonstrated that our method enables determination of various gaits through optimization of such cost functions as input power, rate of shape change, and torque derivative." @default.
- W2113254059 created "2016-06-24" @default.
- W2113254059 creator A5009587808 @default.
- W2113254059 creator A5019179033 @default.
- W2113254059 date "2009-01-01" @default.
- W2113254059 modified "2023-09-24" @default.
- W2113254059 title "A further result on the optimal harmonic gait for locomotion of mechanical rectifier systems" @default.
- W2113254059 cites W1995551113 @default.
- W2113254059 cites W1995786312 @default.
- W2113254059 cites W2010050675 @default.
- W2113254059 cites W2034133729 @default.
- W2113254059 cites W2106222102 @default.
- W2113254059 cites W2123431998 @default.
- W2113254059 cites W2126621973 @default.
- W2113254059 cites W2135014698 @default.
- W2113254059 cites W2137922094 @default.
- W2113254059 cites W2156632349 @default.
- W2113254059 doi "https://doi.org/10.1109/acc.2009.5160147" @default.
- W2113254059 hasPublicationYear "2009" @default.
- W2113254059 type Work @default.
- W2113254059 sameAs 2113254059 @default.
- W2113254059 citedByCount "2" @default.
- W2113254059 countsByYear W21132540592013 @default.
- W2113254059 crossrefType "proceedings-article" @default.
- W2113254059 hasAuthorship W2113254059A5009587808 @default.
- W2113254059 hasAuthorship W2113254059A5019179033 @default.
- W2113254059 hasConcept C121332964 @default.
- W2113254059 hasConcept C126255220 @default.
- W2113254059 hasConcept C151800584 @default.
- W2113254059 hasConcept C154945302 @default.
- W2113254059 hasConcept C158693339 @default.
- W2113254059 hasConcept C198927703 @default.
- W2113254059 hasConcept C2524010 @default.
- W2113254059 hasConcept C2775924081 @default.
- W2113254059 hasConcept C2776036281 @default.
- W2113254059 hasConcept C33923547 @default.
- W2113254059 hasConcept C41008148 @default.
- W2113254059 hasConcept C42407357 @default.
- W2113254059 hasConcept C47446073 @default.
- W2113254059 hasConcept C62520636 @default.
- W2113254059 hasConcept C81845259 @default.
- W2113254059 hasConcept C86803240 @default.
- W2113254059 hasConcept C91575142 @default.
- W2113254059 hasConceptScore W2113254059C121332964 @default.
- W2113254059 hasConceptScore W2113254059C126255220 @default.
- W2113254059 hasConceptScore W2113254059C151800584 @default.
- W2113254059 hasConceptScore W2113254059C154945302 @default.
- W2113254059 hasConceptScore W2113254059C158693339 @default.
- W2113254059 hasConceptScore W2113254059C198927703 @default.
- W2113254059 hasConceptScore W2113254059C2524010 @default.
- W2113254059 hasConceptScore W2113254059C2775924081 @default.
- W2113254059 hasConceptScore W2113254059C2776036281 @default.
- W2113254059 hasConceptScore W2113254059C33923547 @default.
- W2113254059 hasConceptScore W2113254059C41008148 @default.
- W2113254059 hasConceptScore W2113254059C42407357 @default.
- W2113254059 hasConceptScore W2113254059C47446073 @default.
- W2113254059 hasConceptScore W2113254059C62520636 @default.
- W2113254059 hasConceptScore W2113254059C81845259 @default.
- W2113254059 hasConceptScore W2113254059C86803240 @default.
- W2113254059 hasConceptScore W2113254059C91575142 @default.
- W2113254059 hasLocation W21132540591 @default.
- W2113254059 hasOpenAccess W2113254059 @default.
- W2113254059 hasPrimaryLocation W21132540591 @default.
- W2113254059 hasRelatedWork W1920358242 @default.
- W2113254059 hasRelatedWork W1976196405 @default.
- W2113254059 hasRelatedWork W1983110417 @default.
- W2113254059 hasRelatedWork W2039378495 @default.
- W2113254059 hasRelatedWork W2057576285 @default.
- W2113254059 hasRelatedWork W2069134924 @default.
- W2113254059 hasRelatedWork W2070601115 @default.
- W2113254059 hasRelatedWork W2095721268 @default.
- W2113254059 hasRelatedWork W2098707042 @default.
- W2113254059 hasRelatedWork W2116515744 @default.
- W2113254059 hasRelatedWork W2124356671 @default.
- W2113254059 hasRelatedWork W2129541023 @default.
- W2113254059 hasRelatedWork W2134896456 @default.
- W2113254059 hasRelatedWork W2135014698 @default.
- W2113254059 hasRelatedWork W2152594383 @default.
- W2113254059 hasRelatedWork W2153859959 @default.
- W2113254059 hasRelatedWork W2157924809 @default.
- W2113254059 hasRelatedWork W2166267520 @default.
- W2113254059 hasRelatedWork W2313348803 @default.
- W2113254059 hasRelatedWork W2808620393 @default.
- W2113254059 isParatext "false" @default.
- W2113254059 isRetracted "false" @default.
- W2113254059 magId "2113254059" @default.
- W2113254059 workType "article" @default.