Matches in SemOpenAlex for { <https://semopenalex.org/work/W3009020104> ?p ?o ?g. }
- W3009020104 endingPage "747" @default.
- W3009020104 startingPage "729" @default.
- W3009020104 abstract "Summary This paper presents the use of passive dynamics to generate the sagittal plane references for a biped walker. In order to achieve an adjustable gait width, a neural network reference generator, trained with passive walking data on different slopes, was applied. The control algorithm was implemented with an Nonlinear Model Predictive Control (NMPC) strategy, in order to perform multiple‐input multiple‐output reference tracking while maintaining balance. The main contributions of the present work are using a kneed passive walker model for reference generation, which creates gait profiles that are more natural than the compass gait model, presenting a low computational cost, since only the forward kinematic model is used, and enabling adjustable gait width, due to the use of a neural network trained with data from the passive walker. Simulation results using V‐REP (Virtual Robot Experimentation Platform) are presented, using a sagittal kneed walker with a torso and arms, demonstrating the effectiveness of the proposed method." @default.
- W3009020104 created "2020-03-06" @default.
- W3009020104 creator A5029373244 @default.
- W3009020104 creator A5034915790 @default.
- W3009020104 creator A5062042091 @default.
- W3009020104 creator A5075585541 @default.
- W3009020104 creator A5089994953 @default.
- W3009020104 date "2020-02-17" @default.
- W3009020104 modified "2023-10-02" @default.
- W3009020104 title "Nonlinear predictive control applied to a biped walker with adjustable step length using a passive walking‐based reference generator" @default.
- W3009020104 cites W1492106702 @default.
- W3009020104 cites W1975987482 @default.
- W3009020104 cites W1978956894 @default.
- W3009020104 cites W1994216106 @default.
- W3009020104 cites W1994275787 @default.
- W3009020104 cites W2001428612 @default.
- W3009020104 cites W2010338103 @default.
- W3009020104 cites W2016102421 @default.
- W3009020104 cites W2021397100 @default.
- W3009020104 cites W2030087773 @default.
- W3009020104 cites W2032532805 @default.
- W3009020104 cites W2034925682 @default.
- W3009020104 cites W2044795764 @default.
- W3009020104 cites W2045332133 @default.
- W3009020104 cites W2051561438 @default.
- W3009020104 cites W2056223738 @default.
- W3009020104 cites W2083016933 @default.
- W3009020104 cites W2116234902 @default.
- W3009020104 cites W2117332703 @default.
- W3009020104 cites W2120434311 @default.
- W3009020104 cites W2133859362 @default.
- W3009020104 cites W2134673975 @default.
- W3009020104 cites W2145765739 @default.
- W3009020104 cites W2150281412 @default.
- W3009020104 cites W2152508678 @default.
- W3009020104 cites W2163668399 @default.
- W3009020104 cites W2171004532 @default.
- W3009020104 cites W2217484997 @default.
- W3009020104 cites W2294119037 @default.
- W3009020104 cites W2297730688 @default.
- W3009020104 cites W2338864697 @default.
- W3009020104 cites W2436002435 @default.
- W3009020104 cites W2563940893 @default.
- W3009020104 cites W2584909334 @default.
- W3009020104 cites W2594780386 @default.
- W3009020104 cites W2606516560 @default.
- W3009020104 cites W2625584548 @default.
- W3009020104 cites W2770043996 @default.
- W3009020104 cites W2782744517 @default.
- W3009020104 cites W2793603912 @default.
- W3009020104 cites W2804623852 @default.
- W3009020104 cites W4211147054 @default.
- W3009020104 doi "https://doi.org/10.1002/oca.2570" @default.
- W3009020104 hasPublicationYear "2020" @default.
- W3009020104 type Work @default.
- W3009020104 sameAs 3009020104 @default.
- W3009020104 citedByCount "1" @default.
- W3009020104 countsByYear W30090201042022 @default.
- W3009020104 crossrefType "journal-article" @default.
- W3009020104 hasAuthorship W3009020104A5029373244 @default.
- W3009020104 hasAuthorship W3009020104A5034915790 @default.
- W3009020104 hasAuthorship W3009020104A5062042091 @default.
- W3009020104 hasAuthorship W3009020104A5075585541 @default.
- W3009020104 hasAuthorship W3009020104A5089994953 @default.
- W3009020104 hasConcept C105702510 @default.
- W3009020104 hasConcept C121332964 @default.
- W3009020104 hasConcept C126838900 @default.
- W3009020104 hasConcept C127413603 @default.
- W3009020104 hasConcept C151800584 @default.
- W3009020104 hasConcept C154945302 @default.
- W3009020104 hasConcept C158622935 @default.
- W3009020104 hasConcept C172205157 @default.
- W3009020104 hasConcept C178910020 @default.
- W3009020104 hasConcept C2775924081 @default.
- W3009020104 hasConcept C39920418 @default.
- W3009020104 hasConcept C41008148 @default.
- W3009020104 hasConcept C42407357 @default.
- W3009020104 hasConcept C44154836 @default.
- W3009020104 hasConcept C47446073 @default.
- W3009020104 hasConcept C50644808 @default.
- W3009020104 hasConcept C523889960 @default.
- W3009020104 hasConcept C62520636 @default.
- W3009020104 hasConcept C71924100 @default.
- W3009020104 hasConcept C74650414 @default.
- W3009020104 hasConcept C86803240 @default.
- W3009020104 hasConceptScore W3009020104C105702510 @default.
- W3009020104 hasConceptScore W3009020104C121332964 @default.
- W3009020104 hasConceptScore W3009020104C126838900 @default.
- W3009020104 hasConceptScore W3009020104C127413603 @default.
- W3009020104 hasConceptScore W3009020104C151800584 @default.
- W3009020104 hasConceptScore W3009020104C154945302 @default.
- W3009020104 hasConceptScore W3009020104C158622935 @default.
- W3009020104 hasConceptScore W3009020104C172205157 @default.
- W3009020104 hasConceptScore W3009020104C178910020 @default.
- W3009020104 hasConceptScore W3009020104C2775924081 @default.
- W3009020104 hasConceptScore W3009020104C39920418 @default.
- W3009020104 hasConceptScore W3009020104C41008148 @default.
- W3009020104 hasConceptScore W3009020104C42407357 @default.