FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2894593111> ?p ?o ?g. }

• W2894593111 abstract "Walking gaits generated using Model Predictive Control (MPC) is widely used due to its capability to handle several constraints that characterize humanoid locomotion. The use of simplified models such as the Linear Inverted Pendulum allows to perform computations in real-time, giving the robot the fundamental capacity to replan its motion to follow external inputs (e.g. reference velocity, footstep plans). However, usually the MPC does not take into account the current state of the robot when computing the reference motion, losing the ability to react to external disturbances. In this paper a closed-loop MPC scheme is proposed to estimate the robot's real state through Simultaneous Localization and Mapping (SLAM) and proprioceptive sensors (force/torque). With the proposed control scheme it is shown that the robot is able to react to external disturbances (push), by stepping to recover from the loss of balance. Moreover the localization allows the robot to navigate to target positions in the environment without being affected by the drift generated by imperfect open-loop control execution. We validate the proposed scheme through two different experiments with a HRP-4 humanoid robot." @default.
• W2894593111 created "2018-10-12" @default.
• W2894593111 creator A5000560511 @default.
• W2894593111 creator A5066992384 @default.
• W2894593111 creator A5067136188 @default.
• W2894593111 creator A5068159381 @default.
• W2894593111 creator A5085865201 @default.
• W2894593111 date "2019-05-01" @default.
• W2894593111 modified "2023-09-26" @default.
• W2894593111 title "Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping" @default.
• W2894593111 cites W1976272837 @default.
• W2894593111 cites W1979061520 @default.
• W2894593111 cites W1999684857 @default.
• W2894593111 cites W2016045532 @default.
• W2894593111 cites W2086853455 @default.
• W2894593111 cites W2087485438 @default.
• W2894593111 cites W2095143145 @default.
• W2894593111 cites W2109606373 @default.
• W2894593111 cites W2204100769 @default.
• W2894593111 cites W2250172176 @default.
• W2894593111 cites W2255696229 @default.
• W2894593111 cites W2333533581 @default.
• W2894593111 cites W2539915646 @default.
• W2894593111 cites W2545165891 @default.
• W2894593111 cites W2563439850 @default.
• W2894593111 cites W2564178275 @default.
• W2894593111 cites W2568656471 @default.
• W2894593111 cites W2768163621 @default.
• W2894593111 cites W2774377244 @default.
• W2894593111 cites W2774394625 @default.
• W2894593111 cites W2808004181 @default.
• W2894593111 cites W3004837582 @default.
• W2894593111 cites W566530810 @default.
• W2894593111 doi "https://doi.org/10.1109/icra.2019.8794006" @default.
• W2894593111 hasPublicationYear "2019" @default.
• W2894593111 type Work @default.
• W2894593111 sameAs 2894593111 @default.
• W2894593111 citedByCount "11" @default.
• W2894593111 countsByYear W28945931112019 @default.
• W2894593111 countsByYear W28945931112020 @default.
• W2894593111 countsByYear W28945931112021 @default.
• W2894593111 countsByYear W28945931112022 @default.
• W2894593111 crossrefType "proceedings-article" @default.
• W2894593111 hasAuthorship W2894593111A5000560511 @default.
• W2894593111 hasAuthorship W2894593111A5066992384 @default.
• W2894593111 hasAuthorship W2894593111A5067136188 @default.
• W2894593111 hasAuthorship W2894593111A5068159381 @default.
• W2894593111 hasAuthorship W2894593111A5085865201 @default.
• W2894593111 hasBestOaLocation W28945931112 @default.
• W2894593111 hasConcept C112972136 @default.
• W2894593111 hasConcept C119857082 @default.
• W2894593111 hasConcept C121332964 @default.
• W2894593111 hasConcept C127413603 @default.
• W2894593111 hasConcept C133731056 @default.
• W2894593111 hasConcept C144171764 @default.
• W2894593111 hasConcept C154945302 @default.
• W2894593111 hasConcept C158622935 @default.
• W2894593111 hasConcept C172205157 @default.
• W2894593111 hasConcept C192921069 @default.
• W2894593111 hasConcept C19966478 @default.
• W2894593111 hasConcept C2775924081 @default.
• W2894593111 hasConcept C41008148 @default.
• W2894593111 hasConcept C47446073 @default.
• W2894593111 hasConcept C60692881 @default.
• W2894593111 hasConcept C62520636 @default.
• W2894593111 hasConcept C86369673 @default.
• W2894593111 hasConcept C90509273 @default.
• W2894593111 hasConcept C97355855 @default.
• W2894593111 hasConceptScore W2894593111C112972136 @default.
• W2894593111 hasConceptScore W2894593111C119857082 @default.
• W2894593111 hasConceptScore W2894593111C121332964 @default.
• W2894593111 hasConceptScore W2894593111C127413603 @default.
• W2894593111 hasConceptScore W2894593111C133731056 @default.
• W2894593111 hasConceptScore W2894593111C144171764 @default.
• W2894593111 hasConceptScore W2894593111C154945302 @default.
• W2894593111 hasConceptScore W2894593111C158622935 @default.
• W2894593111 hasConceptScore W2894593111C172205157 @default.
• W2894593111 hasConceptScore W2894593111C192921069 @default.
• W2894593111 hasConceptScore W2894593111C19966478 @default.
• W2894593111 hasConceptScore W2894593111C2775924081 @default.
• W2894593111 hasConceptScore W2894593111C41008148 @default.
• W2894593111 hasConceptScore W2894593111C47446073 @default.
• W2894593111 hasConceptScore W2894593111C60692881 @default.
• W2894593111 hasConceptScore W2894593111C62520636 @default.
• W2894593111 hasConceptScore W2894593111C86369673 @default.
• W2894593111 hasConceptScore W2894593111C90509273 @default.
• W2894593111 hasConceptScore W2894593111C97355855 @default.
• W2894593111 hasLocation W28945931111 @default.
• W2894593111 hasLocation W28945931112 @default.
• W2894593111 hasLocation W28945931113 @default.
• W2894593111 hasLocation W28945931114 @default.
• W2894593111 hasLocation W28945931115 @default.
• W2894593111 hasLocation W28945931116 @default.
• W2894593111 hasLocation W28945931117 @default.
• W2894593111 hasLocation W28945931118 @default.
• W2894593111 hasLocation W28945931119 @default.
• W2894593111 hasOpenAccess W2894593111 @default.
• W2894593111 hasPrimaryLocation W28945931111 @default.
• W2894593111 hasRelatedWork W2058063222 @default.
• W2894593111 hasRelatedWork W2105738972 @default.

• next