FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2952685247> ?p ?o ?g. }

• W2952685247 abstract "In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the Center of Mass (CoM) and external contact forces consistent with a given task. The optimization problem is comprised of three stages, i. e. the CoM vertical motion, joint angles, and contact forces planning. The choice of external contact (e. g. hand contact with the object or environment) among all available locations and the appropriate time to reach and maintain a contact are all computed automatically within the algorithm. The presented algorithm benefits from the simplicity of the Linear Inverted Pendulum Model (LIPM), while it overcomes the common limitations of this model and enables us to generate a variety of whole-body motions through external contacts. Simulation and experimental implementation of several whole-body actions in multi-contact scenarios on a humanoid robot show the capability of the proposed algorithm." @default.
• W2952685247 created "2019-06-27" @default.
• W2952685247 creator A5008927094 @default.
• W2952685247 creator A5019618228 @default.
• W2952685247 creator A5020408833 @default.
• W2952685247 creator A5020455108 @default.
• W2952685247 creator A5029933340 @default.
• W2952685247 creator A5043216529 @default.
• W2952685247 date "2018-10-24" @default.
• W2952685247 modified "2023-09-27" @default.
• W2952685247 title "A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations" @default.
• W2952685247 cites W2015149365 @default.
• W2952685247 cites W2092953817 @default.
• W2952685247 cites W2143729862 @default.
• W2952685247 cites W2528379526 @default.
• W2952685247 cites W2563439850 @default.
• W2952685247 cites W2569324215 @default.
• W2952685247 cites W2569909268 @default.
• W2952685247 cites W2744290600 @default.
• W2952685247 cites W2788030459 @default.
• W2952685247 cites W2954238034 @default.
• W2952685247 cites W2962943672 @default.
• W2952685247 cites W2963536429 @default.
• W2952685247 hasPublicationYear "2018" @default.
• W2952685247 type Work @default.
• W2952685247 sameAs 2952685247 @default.
• W2952685247 citedByCount "3" @default.
• W2952685247 countsByYear W29526852472019 @default.
• W2952685247 countsByYear W29526852472020 @default.
• W2952685247 crossrefType "posted-content" @default.
• W2952685247 hasAuthorship W2952685247A5008927094 @default.
• W2952685247 hasAuthorship W2952685247A5019618228 @default.
• W2952685247 hasAuthorship W2952685247A5020408833 @default.
• W2952685247 hasAuthorship W2952685247A5020455108 @default.
• W2952685247 hasAuthorship W2952685247A5029933340 @default.
• W2952685247 hasAuthorship W2952685247A5043216529 @default.
• W2952685247 hasConcept C104114177 @default.
• W2952685247 hasConcept C121332964 @default.
• W2952685247 hasConcept C154945302 @default.
• W2952685247 hasConcept C158622935 @default.
• W2952685247 hasConcept C161840515 @default.
• W2952685247 hasConcept C172205157 @default.
• W2952685247 hasConcept C18903297 @default.
• W2952685247 hasConcept C192921069 @default.
• W2952685247 hasConcept C2775924081 @default.
• W2952685247 hasConcept C36185635 @default.
• W2952685247 hasConcept C41008148 @default.
• W2952685247 hasConcept C44154836 @default.
• W2952685247 hasConcept C47446073 @default.
• W2952685247 hasConcept C47513753 @default.
• W2952685247 hasConcept C57879066 @default.
• W2952685247 hasConcept C60692881 @default.
• W2952685247 hasConcept C62520636 @default.
• W2952685247 hasConcept C74650414 @default.
• W2952685247 hasConcept C81302111 @default.
• W2952685247 hasConcept C86803240 @default.
• W2952685247 hasConcept C90509273 @default.
• W2952685247 hasConceptScore W2952685247C104114177 @default.
• W2952685247 hasConceptScore W2952685247C121332964 @default.
• W2952685247 hasConceptScore W2952685247C154945302 @default.
• W2952685247 hasConceptScore W2952685247C158622935 @default.
• W2952685247 hasConceptScore W2952685247C161840515 @default.
• W2952685247 hasConceptScore W2952685247C172205157 @default.
• W2952685247 hasConceptScore W2952685247C18903297 @default.
• W2952685247 hasConceptScore W2952685247C192921069 @default.
• W2952685247 hasConceptScore W2952685247C2775924081 @default.
• W2952685247 hasConceptScore W2952685247C36185635 @default.
• W2952685247 hasConceptScore W2952685247C41008148 @default.
• W2952685247 hasConceptScore W2952685247C44154836 @default.
• W2952685247 hasConceptScore W2952685247C47446073 @default.
• W2952685247 hasConceptScore W2952685247C47513753 @default.
• W2952685247 hasConceptScore W2952685247C57879066 @default.
• W2952685247 hasConceptScore W2952685247C60692881 @default.
• W2952685247 hasConceptScore W2952685247C62520636 @default.
• W2952685247 hasConceptScore W2952685247C74650414 @default.
• W2952685247 hasConceptScore W2952685247C81302111 @default.
• W2952685247 hasConceptScore W2952685247C86803240 @default.
• W2952685247 hasConceptScore W2952685247C90509273 @default.
• W2952685247 hasLocation W29526852471 @default.
• W2952685247 hasOpenAccess W2952685247 @default.
• W2952685247 hasPrimaryLocation W29526852471 @default.
• W2952685247 hasRelatedWork W1533686619 @default.
• W2952685247 hasRelatedWork W2056023335 @default.
• W2952685247 hasRelatedWork W2071595672 @default.
• W2952685247 hasRelatedWork W2093592400 @default.
• W2952685247 hasRelatedWork W2326625614 @default.
• W2952685247 hasRelatedWork W2342011626 @default.
• W2952685247 hasRelatedWork W2771500698 @default.
• W2952685247 hasRelatedWork W2782858773 @default.
• W2952685247 hasRelatedWork W2803091459 @default.
• W2952685247 hasRelatedWork W2896324166 @default.
• W2952685247 hasRelatedWork W2913069595 @default.
• W2952685247 hasRelatedWork W2956157835 @default.
• W2952685247 hasRelatedWork W2976975703 @default.
• W2952685247 hasRelatedWork W3008484917 @default.
• W2952685247 hasRelatedWork W3018479035 @default.
• W2952685247 hasRelatedWork W3091560055 @default.
• W2952685247 hasRelatedWork W3135659965 @default.
• W2952685247 hasRelatedWork W3206419935 @default.
• W2952685247 hasRelatedWork W635517550 @default.

• next