FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3091560055> ?p ?o ?g. }

• W3091560055 abstract "This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM) within an admissible convex area. This area is calculated based on the contact positions and forces. We introduce a methodology to compute this CoM support area (CSA) for multiple fixed and intentionally sliding contacts. To select the most appropriate CoM position within CSA, we account for (i) constraints of multiple fixed and sliding contacts, (ii) desired wrench distribution for contacts, and (iii) desired CoM position (eventually dictated by other tasks). These are formulated as a quadratic programming (QP) optimization problems. We illustrate our approach with pushing against a wall and wiping, and conducted experiments using the HRP-4 humanoid robot." @default.
• W3091560055 created "2020-10-08" @default.
• W3091560055 creator A5032139227 @default.
• W3091560055 creator A5067136188 @default.
• W3091560055 creator A5068159381 @default.
• W3091560055 creator A5076696014 @default.
• W3091560055 date "2020-05-01" @default.
• W3091560055 modified "2023-09-24" @default.
• W3091560055 title "Balance of Humanoid Robots in a Mix of Fixed and Sliding Multi-Contact Scenarios" @default.
• W3091560055 cites W1525662195 @default.
• W3091560055 cites W1939926247 @default.
• W3091560055 cites W1973195195 @default.
• W3091560055 cites W1973336020 @default.
• W3091560055 cites W1980160418 @default.
• W3091560055 cites W1987580649 @default.
• W3091560055 cites W2010291530 @default.
• W3091560055 cites W2019606703 @default.
• W3091560055 cites W2042263030 @default.
• W3091560055 cites W2074611885 @default.
• W3091560055 cites W2081683070 @default.
• W3091560055 cites W2101340954 @default.
• W3091560055 cites W2110755522 @default.
• W3091560055 cites W2131249620 @default.
• W3091560055 cites W2132030382 @default.
• W3091560055 cites W2132089714 @default.
• W3091560055 cites W2165739402 @default.
• W3091560055 cites W2169830087 @default.
• W3091560055 cites W2214211003 @default.
• W3091560055 cites W2255696229 @default.
• W3091560055 cites W2545425704 @default.
• W3091560055 cites W2602211129 @default.
• W3091560055 cites W2609356747 @default.
• W3091560055 cites W2698149751 @default.
• W3091560055 cites W2784165308 @default.
• W3091560055 cites W2891846762 @default.
• W3091560055 cites W2900391154 @default.
• W3091560055 cites W2912736264 @default.
• W3091560055 cites W3144286684 @default.
• W3091560055 doi "https://doi.org/10.1109/icra40945.2020.9197253" @default.
• W3091560055 hasPublicationYear "2020" @default.
• W3091560055 type Work @default.
• W3091560055 sameAs 3091560055 @default.
• W3091560055 citedByCount "1" @default.
• W3091560055 countsByYear W30915600552021 @default.
• W3091560055 crossrefType "proceedings-article" @default.
• W3091560055 hasAuthorship W3091560055A5032139227 @default.
• W3091560055 hasAuthorship W3091560055A5067136188 @default.
• W3091560055 hasAuthorship W3091560055A5068159381 @default.
• W3091560055 hasAuthorship W3091560055A5076696014 @default.
• W3091560055 hasBestOaLocation W30915600552 @default.
• W3091560055 hasConcept C10138342 @default.
• W3091560055 hasConcept C121332964 @default.
• W3091560055 hasConcept C126255220 @default.
• W3091560055 hasConcept C127413603 @default.
• W3091560055 hasConcept C154945302 @default.
• W3091560055 hasConcept C162324750 @default.
• W3091560055 hasConcept C168031717 @default.
• W3091560055 hasConcept C198082294 @default.
• W3091560055 hasConcept C201995342 @default.
• W3091560055 hasConcept C2775924081 @default.
• W3091560055 hasConcept C2780451532 @default.
• W3091560055 hasConcept C29302406 @default.
• W3091560055 hasConcept C2992525074 @default.
• W3091560055 hasConcept C33923547 @default.
• W3091560055 hasConcept C41008148 @default.
• W3091560055 hasConcept C47446073 @default.
• W3091560055 hasConcept C60692881 @default.
• W3091560055 hasConcept C62520636 @default.
• W3091560055 hasConcept C71924100 @default.
• W3091560055 hasConcept C78519656 @default.
• W3091560055 hasConcept C81302111 @default.
• W3091560055 hasConcept C81845259 @default.
• W3091560055 hasConcept C90509273 @default.
• W3091560055 hasConcept C99508421 @default.
• W3091560055 hasConceptScore W3091560055C10138342 @default.
• W3091560055 hasConceptScore W3091560055C121332964 @default.
• W3091560055 hasConceptScore W3091560055C126255220 @default.
• W3091560055 hasConceptScore W3091560055C127413603 @default.
• W3091560055 hasConceptScore W3091560055C154945302 @default.
• W3091560055 hasConceptScore W3091560055C162324750 @default.
• W3091560055 hasConceptScore W3091560055C168031717 @default.
• W3091560055 hasConceptScore W3091560055C198082294 @default.
• W3091560055 hasConceptScore W3091560055C201995342 @default.
• W3091560055 hasConceptScore W3091560055C2775924081 @default.
• W3091560055 hasConceptScore W3091560055C2780451532 @default.
• W3091560055 hasConceptScore W3091560055C29302406 @default.
• W3091560055 hasConceptScore W3091560055C2992525074 @default.
• W3091560055 hasConceptScore W3091560055C33923547 @default.
• W3091560055 hasConceptScore W3091560055C41008148 @default.
• W3091560055 hasConceptScore W3091560055C47446073 @default.
• W3091560055 hasConceptScore W3091560055C60692881 @default.
• W3091560055 hasConceptScore W3091560055C62520636 @default.
• W3091560055 hasConceptScore W3091560055C71924100 @default.
• W3091560055 hasConceptScore W3091560055C78519656 @default.
• W3091560055 hasConceptScore W3091560055C81302111 @default.
• W3091560055 hasConceptScore W3091560055C81845259 @default.
• W3091560055 hasConceptScore W3091560055C90509273 @default.
• W3091560055 hasConceptScore W3091560055C99508421 @default.
• W3091560055 hasLocation W30915600551 @default.
• W3091560055 hasLocation W30915600552 @default.

• next