Matches in SemOpenAlex for { <https://semopenalex.org/work/W2113818199> ?p ?o ?g. }
Showing items 1 to 91 of
91
with 100 items per page.
- W2113818199 endingPage "74" @default.
- W2113818199 startingPage "74" @default.
- W2113818199 abstract "We propose an inverse kinematic control framework for a position controlled humanoid robot with bounded joint range, velocity, and acceleration limits. The proposed framework comprises two components, an inverse kinematics algorithm and a damping controller. The proposed IKTC (Inverse Kinematics with Task Corrections) algorithm is based on the second order task-priority method in order to ensure the velocity-continuity of the solution. When the minimum norm solution exceeds the joint bounds, the problem is treated as a quadratic optimization problem with box constraints; an optimal task correction that lets the solution satisfy the constraints is found. In order to express the three kinds of joint constraints as a second order box constraint, a novel method is also proposed. The joint stiffness of a position controlled humanoid robot necessitates a damping controller to attenuate jolts caused by repeated contacts. We design a damping controller by using an inverted pendulum model with a compliant joint that takes into account the compliance around the foot. By using ZMP [ 20 ] measurement, the proposed damping controller is applicable not only in SSP (Single Support Phase) but also in DSP (Double Support Phase). The validity of the proposed methods is shown by imitating a captured whole-body human motion with a position controlled humanoid robot." @default.
- W2113818199 created "2016-06-24" @default.
- W2113818199 creator A5024588539 @default.
- W2113818199 creator A5055502318 @default.
- W2113818199 date "2013-01-01" @default.
- W2113818199 modified "2023-09-23" @default.
- W2113818199 title "Inverse Kinematic Control of Humanoids under Joint Constraints" @default.
- W2113818199 cites W1982442957 @default.
- W2113818199 cites W1997696996 @default.
- W2113818199 cites W2037729465 @default.
- W2113818199 cites W2042803738 @default.
- W2113818199 cites W2049617391 @default.
- W2113818199 cites W2058544403 @default.
- W2113818199 cites W2072763216 @default.
- W2113818199 cites W2098862957 @default.
- W2113818199 cites W2103120971 @default.
- W2113818199 cites W2106682900 @default.
- W2113818199 cites W2107804093 @default.
- W2113818199 cites W2117990468 @default.
- W2113818199 cites W2119403459 @default.
- W2113818199 cites W2139208043 @default.
- W2113818199 cites W2154847670 @default.
- W2113818199 doi "https://doi.org/10.5772/55247" @default.
- W2113818199 hasPublicationYear "2013" @default.
- W2113818199 type Work @default.
- W2113818199 sameAs 2113818199 @default.
- W2113818199 citedByCount "23" @default.
- W2113818199 countsByYear W21138181992014 @default.
- W2113818199 countsByYear W21138181992015 @default.
- W2113818199 countsByYear W21138181992016 @default.
- W2113818199 countsByYear W21138181992017 @default.
- W2113818199 countsByYear W21138181992018 @default.
- W2113818199 countsByYear W21138181992019 @default.
- W2113818199 countsByYear W21138181992021 @default.
- W2113818199 countsByYear W21138181992023 @default.
- W2113818199 crossrefType "journal-article" @default.
- W2113818199 hasAuthorship W2113818199A5024588539 @default.
- W2113818199 hasAuthorship W2113818199A5055502318 @default.
- W2113818199 hasBestOaLocation W21138181991 @default.
- W2113818199 hasConcept C117896860 @default.
- W2113818199 hasConcept C121332964 @default.
- W2113818199 hasConcept C154945302 @default.
- W2113818199 hasConcept C17816587 @default.
- W2113818199 hasConcept C187523126 @default.
- W2113818199 hasConcept C203479927 @default.
- W2113818199 hasConcept C2775924081 @default.
- W2113818199 hasConcept C39920418 @default.
- W2113818199 hasConcept C41008148 @default.
- W2113818199 hasConcept C47446073 @default.
- W2113818199 hasConcept C60692881 @default.
- W2113818199 hasConcept C6557445 @default.
- W2113818199 hasConcept C74650414 @default.
- W2113818199 hasConcept C86803240 @default.
- W2113818199 hasConcept C90509273 @default.
- W2113818199 hasConceptScore W2113818199C117896860 @default.
- W2113818199 hasConceptScore W2113818199C121332964 @default.
- W2113818199 hasConceptScore W2113818199C154945302 @default.
- W2113818199 hasConceptScore W2113818199C17816587 @default.
- W2113818199 hasConceptScore W2113818199C187523126 @default.
- W2113818199 hasConceptScore W2113818199C203479927 @default.
- W2113818199 hasConceptScore W2113818199C2775924081 @default.
- W2113818199 hasConceptScore W2113818199C39920418 @default.
- W2113818199 hasConceptScore W2113818199C41008148 @default.
- W2113818199 hasConceptScore W2113818199C47446073 @default.
- W2113818199 hasConceptScore W2113818199C60692881 @default.
- W2113818199 hasConceptScore W2113818199C6557445 @default.
- W2113818199 hasConceptScore W2113818199C74650414 @default.
- W2113818199 hasConceptScore W2113818199C86803240 @default.
- W2113818199 hasConceptScore W2113818199C90509273 @default.
- W2113818199 hasIssue "1" @default.
- W2113818199 hasLocation W21138181991 @default.
- W2113818199 hasLocation W21138181992 @default.
- W2113818199 hasOpenAccess W2113818199 @default.
- W2113818199 hasPrimaryLocation W21138181991 @default.
- W2113818199 hasRelatedWork W1901764153 @default.
- W2113818199 hasRelatedWork W1996912299 @default.
- W2113818199 hasRelatedWork W2016087539 @default.
- W2113818199 hasRelatedWork W2023674908 @default.
- W2113818199 hasRelatedWork W2051357145 @default.
- W2113818199 hasRelatedWork W2090619052 @default.
- W2113818199 hasRelatedWork W2377469495 @default.
- W2113818199 hasRelatedWork W2651794802 @default.
- W2113818199 hasRelatedWork W2906619410 @default.
- W2113818199 hasRelatedWork W3110674428 @default.
- W2113818199 hasVolume "10" @default.
- W2113818199 isParatext "false" @default.
- W2113818199 isRetracted "false" @default.
- W2113818199 magId "2113818199" @default.
- W2113818199 workType "article" @default.