Matches in SemOpenAlex for { <https://semopenalex.org/work/W2201005673> ?p ?o ?g. }
Showing items 1 to 98 of
98
with 100 items per page.
- W2201005673 abstract "In this paper, we propose a computationally efficient Model Predictive Control (MPC) towards development of a policy optimization method for realtime humanoid robot control. MPC is one of the useful approaches to effectively derive a feedback controller for nonlinear dynamical systems. However, realtime MPC for a robot system which has fast dynamics has been considered as impractical since MPC is computationally intensive. But due to the recent rapid improvements in computer performance, MPC with considering an approximated robot model which has less number of dimensionality than the original system is becoming a popular approach to design a humanoid controller for specific purposes such as balancing or walking. On the other hand, considering the full dynamics of the original humanoid model in MPC framework for realtime control is still a challenging problem. To cope with this problem, in our study, we propose a MPC method which has two-step optimization procedure based on the results of the transformation into a singularly perturbed system to reduce the computation time of optimization. We evaluate our proposed MPC in a simple toy problem and a simulated biped model. We show that the proposed method successfully reduces the computation time without significantly degrading the control performance." @default.
- W2201005673 created "2016-06-24" @default.
- W2201005673 creator A5025458882 @default.
- W2201005673 creator A5048378207 @default.
- W2201005673 date "2015-11-01" @default.
- W2201005673 modified "2023-09-25" @default.
- W2201005673 title "Real-time Model Predictive Control with two-step optimization based on singularly perturbed system" @default.
- W2201005673 cites W2003132288 @default.
- W2201005673 cites W2060364523 @default.
- W2201005673 cites W2073408938 @default.
- W2201005673 cites W2087617385 @default.
- W2201005673 cites W2105576913 @default.
- W2201005673 cites W2133859362 @default.
- W2201005673 cites W2143556030 @default.
- W2201005673 cites W2153190828 @default.
- W2201005673 cites W2167856595 @default.
- W2201005673 cites W2335232724 @default.
- W2201005673 doi "https://doi.org/10.1109/humanoids.2015.7363548" @default.
- W2201005673 hasPublicationYear "2015" @default.
- W2201005673 type Work @default.
- W2201005673 sameAs 2201005673 @default.
- W2201005673 citedByCount "4" @default.
- W2201005673 countsByYear W22010056732017 @default.
- W2201005673 countsByYear W22010056732018 @default.
- W2201005673 countsByYear W22010056732020 @default.
- W2201005673 countsByYear W22010056732022 @default.
- W2201005673 crossrefType "proceedings-article" @default.
- W2201005673 hasAuthorship W2201005673A5025458882 @default.
- W2201005673 hasAuthorship W2201005673A5048378207 @default.
- W2201005673 hasConcept C104317684 @default.
- W2201005673 hasConcept C111030470 @default.
- W2201005673 hasConcept C11413529 @default.
- W2201005673 hasConcept C121332964 @default.
- W2201005673 hasConcept C126255220 @default.
- W2201005673 hasConcept C127413603 @default.
- W2201005673 hasConcept C133731056 @default.
- W2201005673 hasConcept C137836250 @default.
- W2201005673 hasConcept C154945302 @default.
- W2201005673 hasConcept C158622935 @default.
- W2201005673 hasConcept C172205157 @default.
- W2201005673 hasConcept C185592680 @default.
- W2201005673 hasConcept C203479927 @default.
- W2201005673 hasConcept C204241405 @default.
- W2201005673 hasConcept C2775924081 @default.
- W2201005673 hasConcept C33923547 @default.
- W2201005673 hasConcept C41008148 @default.
- W2201005673 hasConcept C45374587 @default.
- W2201005673 hasConcept C47446073 @default.
- W2201005673 hasConcept C55493867 @default.
- W2201005673 hasConcept C60692881 @default.
- W2201005673 hasConcept C62520636 @default.
- W2201005673 hasConcept C6557445 @default.
- W2201005673 hasConcept C77405623 @default.
- W2201005673 hasConcept C86803240 @default.
- W2201005673 hasConcept C90509273 @default.
- W2201005673 hasConceptScore W2201005673C104317684 @default.
- W2201005673 hasConceptScore W2201005673C111030470 @default.
- W2201005673 hasConceptScore W2201005673C11413529 @default.
- W2201005673 hasConceptScore W2201005673C121332964 @default.
- W2201005673 hasConceptScore W2201005673C126255220 @default.
- W2201005673 hasConceptScore W2201005673C127413603 @default.
- W2201005673 hasConceptScore W2201005673C133731056 @default.
- W2201005673 hasConceptScore W2201005673C137836250 @default.
- W2201005673 hasConceptScore W2201005673C154945302 @default.
- W2201005673 hasConceptScore W2201005673C158622935 @default.
- W2201005673 hasConceptScore W2201005673C172205157 @default.
- W2201005673 hasConceptScore W2201005673C185592680 @default.
- W2201005673 hasConceptScore W2201005673C203479927 @default.
- W2201005673 hasConceptScore W2201005673C204241405 @default.
- W2201005673 hasConceptScore W2201005673C2775924081 @default.
- W2201005673 hasConceptScore W2201005673C33923547 @default.
- W2201005673 hasConceptScore W2201005673C41008148 @default.
- W2201005673 hasConceptScore W2201005673C45374587 @default.
- W2201005673 hasConceptScore W2201005673C47446073 @default.
- W2201005673 hasConceptScore W2201005673C55493867 @default.
- W2201005673 hasConceptScore W2201005673C60692881 @default.
- W2201005673 hasConceptScore W2201005673C62520636 @default.
- W2201005673 hasConceptScore W2201005673C6557445 @default.
- W2201005673 hasConceptScore W2201005673C77405623 @default.
- W2201005673 hasConceptScore W2201005673C86803240 @default.
- W2201005673 hasConceptScore W2201005673C90509273 @default.
- W2201005673 hasLocation W22010056731 @default.
- W2201005673 hasOpenAccess W2201005673 @default.
- W2201005673 hasPrimaryLocation W22010056731 @default.
- W2201005673 hasRelatedWork W1685681702 @default.
- W2201005673 hasRelatedWork W1854006259 @default.
- W2201005673 hasRelatedWork W1965033952 @default.
- W2201005673 hasRelatedWork W1971360108 @default.
- W2201005673 hasRelatedWork W2047787160 @default.
- W2201005673 hasRelatedWork W2148890862 @default.
- W2201005673 hasRelatedWork W2201005673 @default.
- W2201005673 hasRelatedWork W2365785480 @default.
- W2201005673 hasRelatedWork W2393509435 @default.
- W2201005673 hasRelatedWork W2414535689 @default.
- W2201005673 isParatext "false" @default.
- W2201005673 isRetracted "false" @default.
- W2201005673 magId "2201005673" @default.
- W2201005673 workType "article" @default.