Matches in SemOpenAlex for { <https://semopenalex.org/work/W2117741208> ?p ?o ?g. }
Showing items 1 to 87 of
87
with 100 items per page.
- W2117741208 abstract "In this work we examine the control of center of mass and swing leg trajectories in LittleDog, a point-foot quadruped robot. It is not clear how to formulate a function to compute forward kinematics of the center of mass of the robot as a function of actuated joint angles because point-foot walkers have no direct actuation between the feet and the ground. Nevertheless, we show that a whole-body Jacobian exists and is well defined when at least three of the feet are on the ground. Also, the typical approach of work-space centering for redundancy resolution causes destabilizing motions when executing fast motions. An alternative redundancy resolution optimization is proposed which projects single-leg inverse kinematic solutions into the nullspace. This hybrid approach seems to minimize 1) unnecessary rotation of the body, 2) twisting of the stance legs, and 3) whole-body involvement in achieving a step leg trajectory. In simulation, this control allows the robot to perform significantly more dynamic behaviors while maintaining stability." @default.
- W2117741208 created "2016-06-24" @default.
- W2117741208 creator A5002144269 @default.
- W2117741208 creator A5074291890 @default.
- W2117741208 date "2007-04-01" @default.
- W2117741208 modified "2023-10-16" @default.
- W2117741208 title "Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution" @default.
- W2117741208 cites W1988946454 @default.
- W2117741208 cites W2005805981 @default.
- W2117741208 cites W2100790457 @default.
- W2117741208 cites W2112474089 @default.
- W2117741208 cites W2118320757 @default.
- W2117741208 cites W2133859362 @default.
- W2117741208 cites W2142992961 @default.
- W2117741208 cites W2169564405 @default.
- W2117741208 cites W2544376062 @default.
- W2117741208 cites W3088063282 @default.
- W2117741208 cites W3584668 @default.
- W2117741208 doi "https://doi.org/10.1109/robot.2007.364146" @default.
- W2117741208 hasPublicationYear "2007" @default.
- W2117741208 type Work @default.
- W2117741208 sameAs 2117741208 @default.
- W2117741208 citedByCount "31" @default.
- W2117741208 countsByYear W21177412082012 @default.
- W2117741208 countsByYear W21177412082013 @default.
- W2117741208 countsByYear W21177412082014 @default.
- W2117741208 countsByYear W21177412082015 @default.
- W2117741208 countsByYear W21177412082016 @default.
- W2117741208 countsByYear W21177412082020 @default.
- W2117741208 crossrefType "proceedings-article" @default.
- W2117741208 hasAuthorship W2117741208A5002144269 @default.
- W2117741208 hasAuthorship W2117741208A5074291890 @default.
- W2117741208 hasBestOaLocation W21177412082 @default.
- W2117741208 hasConcept C111919701 @default.
- W2117741208 hasConcept C121332964 @default.
- W2117741208 hasConcept C1276947 @default.
- W2117741208 hasConcept C13662910 @default.
- W2117741208 hasConcept C152124472 @default.
- W2117741208 hasConcept C154945302 @default.
- W2117741208 hasConcept C17816587 @default.
- W2117741208 hasConcept C19966478 @default.
- W2117741208 hasConcept C200331156 @default.
- W2117741208 hasConcept C2775924081 @default.
- W2117741208 hasConcept C28826006 @default.
- W2117741208 hasConcept C33923547 @default.
- W2117741208 hasConcept C39920418 @default.
- W2117741208 hasConcept C41008148 @default.
- W2117741208 hasConcept C47446073 @default.
- W2117741208 hasConcept C74222875 @default.
- W2117741208 hasConcept C74650414 @default.
- W2117741208 hasConcept C90509273 @default.
- W2117741208 hasConceptScore W2117741208C111919701 @default.
- W2117741208 hasConceptScore W2117741208C121332964 @default.
- W2117741208 hasConceptScore W2117741208C1276947 @default.
- W2117741208 hasConceptScore W2117741208C13662910 @default.
- W2117741208 hasConceptScore W2117741208C152124472 @default.
- W2117741208 hasConceptScore W2117741208C154945302 @default.
- W2117741208 hasConceptScore W2117741208C17816587 @default.
- W2117741208 hasConceptScore W2117741208C19966478 @default.
- W2117741208 hasConceptScore W2117741208C200331156 @default.
- W2117741208 hasConceptScore W2117741208C2775924081 @default.
- W2117741208 hasConceptScore W2117741208C28826006 @default.
- W2117741208 hasConceptScore W2117741208C33923547 @default.
- W2117741208 hasConceptScore W2117741208C39920418 @default.
- W2117741208 hasConceptScore W2117741208C41008148 @default.
- W2117741208 hasConceptScore W2117741208C47446073 @default.
- W2117741208 hasConceptScore W2117741208C74222875 @default.
- W2117741208 hasConceptScore W2117741208C74650414 @default.
- W2117741208 hasConceptScore W2117741208C90509273 @default.
- W2117741208 hasLocation W21177412081 @default.
- W2117741208 hasLocation W21177412082 @default.
- W2117741208 hasOpenAccess W2117741208 @default.
- W2117741208 hasPrimaryLocation W21177412081 @default.
- W2117741208 hasRelatedWork W1516538004 @default.
- W2117741208 hasRelatedWork W2086648974 @default.
- W2117741208 hasRelatedWork W2135044092 @default.
- W2117741208 hasRelatedWork W2148127540 @default.
- W2117741208 hasRelatedWork W3003321721 @default.
- W2117741208 hasRelatedWork W3021041098 @default.
- W2117741208 hasRelatedWork W3126987580 @default.
- W2117741208 hasRelatedWork W68594487 @default.
- W2117741208 hasRelatedWork W845804895 @default.
- W2117741208 hasRelatedWork W90735542 @default.
- W2117741208 isParatext "false" @default.
- W2117741208 isRetracted "false" @default.
- W2117741208 magId "2117741208" @default.
- W2117741208 workType "article" @default.