FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2564178275> ?p ?o ?g. }

• W2564178275 endingPage "80" @default.
• W2564178275 startingPage "67" @default.
• W2564178275 abstract "We propose a method for checking and enforcing multicontact stability based on the zero-tilting moment point (ZMP). The key to our development is the generalization of ZMP support areas to take into account: 1) frictional constraints and 2) multiple noncoplanar contacts. We introduce and investigate two kinds of ZMP support areas. First, we characterize and provide a fast geometric construction for the support area generated by valid contact forces, with no other constraint on the robot motion. We call this set the full support area. Next, we consider the control of humanoid robots by using the linear pendulum mode (LPM). We observe that the constraints stemming from the LPM induce a shrinking of the support area, even for walking on horizontal floors. We propose an algorithm to compute the new area, which we call the pendular support area. We show that, in the LPM, having the ZMP in the pendular support area is a necessary and sufficient condition for contact stability. Based on these developments, we implement a whole-body controller and generate feasible multicontact motions where an HRP-4 humanoid locomotes in challenging multicontact scenarios." @default.
• W2564178275 created "2017-01-06" @default.
• W2564178275 creator A5032139227 @default.
• W2564178275 creator A5040633710 @default.
• W2564178275 creator A5081279690 @default.
• W2564178275 date "2017-02-01" @default.
• W2564178275 modified "2023-09-30" @default.
• W2564178275 title "ZMP Support Areas for Multicontact Mobility Under Frictional Constraints" @default.
• W2564178275 cites W1525662195 @default.
• W2564178275 cites W1526262508 @default.
• W2564178275 cites W1547679930 @default.
• W2564178275 cites W1778214895 @default.
• W2564178275 cites W1965124047 @default.
• W2564178275 cites W1977001952 @default.
• W2564178275 cites W2026498687 @default.
• W2564178275 cites W2033480951 @default.
• W2564178275 cites W2036484113 @default.
• W2564178275 cites W2046636826 @default.
• W2564178275 cites W2051287096 @default.
• W2564178275 cites W2062940189 @default.
• W2564178275 cites W2063641920 @default.
• W2564178275 cites W2068638097 @default.
• W2564178275 cites W2074042377 @default.
• W2564178275 cites W2095143145 @default.
• W2564178275 cites W2097568396 @default.
• W2564178275 cites W2104479525 @default.
• W2564178275 cites W2114376626 @default.
• W2564178275 cites W2116173495 @default.
• W2564178275 cites W2117962895 @default.
• W2564178275 cites W2120625568 @default.
• W2564178275 cites W2127763473 @default.
• W2564178275 cites W2133859362 @default.
• W2564178275 cites W2137300190 @default.
• W2564178275 cites W2138136244 @default.
• W2564178275 cites W2140756320 @default.
• W2564178275 cites W2141042553 @default.
• W2564178275 cites W2151182239 @default.
• W2564178275 cites W2165739402 @default.
• W2564178275 cites W2199168279 @default.
• W2564178275 cites W2283655042 @default.
• W2564178275 cites W2324378825 @default.
• W2564178275 cites W28293053 @default.
• W2564178275 cites W2963492582 @default.
• W2564178275 cites W2991542025 @default.
• W2564178275 cites W3103565931 @default.
• W2564178275 doi "https://doi.org/10.1109/tro.2016.2623338" @default.
• W2564178275 hasPublicationYear "2017" @default.
• W2564178275 type Work @default.
• W2564178275 sameAs 2564178275 @default.
• W2564178275 citedByCount "82" @default.
• W2564178275 countsByYear W25641782752016 @default.
• W2564178275 countsByYear W25641782752017 @default.
• W2564178275 countsByYear W25641782752018 @default.
• W2564178275 countsByYear W25641782752019 @default.
• W2564178275 countsByYear W25641782752020 @default.
• W2564178275 countsByYear W25641782752021 @default.
• W2564178275 countsByYear W25641782752022 @default.
• W2564178275 countsByYear W25641782752023 @default.
• W2564178275 crossrefType "journal-article" @default.
• W2564178275 hasAuthorship W2564178275A5032139227 @default.
• W2564178275 hasAuthorship W2564178275A5040633710 @default.
• W2564178275 hasAuthorship W2564178275A5081279690 @default.
• W2564178275 hasBestOaLocation W25641782752 @default.
• W2564178275 hasConcept C110639684 @default.
• W2564178275 hasConcept C112972136 @default.
• W2564178275 hasConcept C119857082 @default.
• W2564178275 hasConcept C121332964 @default.
• W2564178275 hasConcept C127413603 @default.
• W2564178275 hasConcept C134306372 @default.
• W2564178275 hasConcept C154945302 @default.
• W2564178275 hasConcept C158622935 @default.
• W2564178275 hasConcept C177148314 @default.
• W2564178275 hasConcept C19245436 @default.
• W2564178275 hasConcept C192921069 @default.
• W2564178275 hasConcept C203479927 @default.
• W2564178275 hasConcept C2524010 @default.
• W2564178275 hasConcept C2775924081 @default.
• W2564178275 hasConcept C2776036281 @default.
• W2564178275 hasConcept C28719098 @default.
• W2564178275 hasConcept C33923547 @default.
• W2564178275 hasConcept C34413123 @default.
• W2564178275 hasConcept C41008148 @default.
• W2564178275 hasConcept C47446073 @default.
• W2564178275 hasConcept C60692881 @default.
• W2564178275 hasConcept C62520636 @default.
• W2564178275 hasConcept C6557445 @default.
• W2564178275 hasConcept C78519656 @default.
• W2564178275 hasConcept C86803240 @default.
• W2564178275 hasConcept C90509273 @default.
• W2564178275 hasConceptScore W2564178275C110639684 @default.
• W2564178275 hasConceptScore W2564178275C112972136 @default.
• W2564178275 hasConceptScore W2564178275C119857082 @default.
• W2564178275 hasConceptScore W2564178275C121332964 @default.
• W2564178275 hasConceptScore W2564178275C127413603 @default.
• W2564178275 hasConceptScore W2564178275C134306372 @default.
• W2564178275 hasConceptScore W2564178275C154945302 @default.
• W2564178275 hasConceptScore W2564178275C158622935 @default.
• W2564178275 hasConceptScore W2564178275C177148314 @default.

• next