Matches in SemOpenAlex for { <https://semopenalex.org/work/W3131649064> ?p ?o ?g. }
Showing items 1 to 83 of
83
with 100 items per page.
- W3131649064 abstract "This paper presents a framework providing a full pipeline to execute a complex physical interaction behaviour of a humanoid bipedal robot, both from a theoretical and a practical standpoint. Building from a multi-contact control architecture that combines contact planning and reactive force distribution capabilities, the main contribution of this work consists in the integration of a sample-based motion planning layer conceived for transitioning movements where obstacle and self-collisions avoidance is involved. To plan these motions we use Rapidly Exploring Random Tree (RRT) projected on the contacts manifold and validated through the Centroidal Statics (CS) model, to ensure static balance on non-coplanar surfaces. Finally, we successfully validate the presented planning and control architecture on the humanoid robot COMAN+ performing a wall-plank task." @default.
- W3131649064 created "2021-03-01" @default.
- W3131649064 creator A5013273202 @default.
- W3131649064 creator A5016982993 @default.
- W3131649064 creator A5017839261 @default.
- W3131649064 creator A5031036223 @default.
- W3131649064 creator A5046447340 @default.
- W3131649064 date "2020-10-24" @default.
- W3131649064 modified "2023-09-30" @default.
- W3131649064 title "A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot" @default.
- W3131649064 cites W1517802146 @default.
- W3131649064 cites W1945123189 @default.
- W3131649064 cites W2004139909 @default.
- W3131649064 cites W2005080926 @default.
- W3131649064 cites W2033480951 @default.
- W3131649064 cites W2042408133 @default.
- W3131649064 cites W2046004653 @default.
- W3131649064 cites W2061350632 @default.
- W3131649064 cites W2061983716 @default.
- W3131649064 cites W2068851522 @default.
- W3131649064 cites W2087617385 @default.
- W3131649064 cites W2095143145 @default.
- W3131649064 cites W2110762409 @default.
- W3131649064 cites W2123871098 @default.
- W3131649064 cites W2255696229 @default.
- W3131649064 cites W2413365548 @default.
- W3131649064 cites W2461181622 @default.
- W3131649064 cites W2563860407 @default.
- W3131649064 cites W2612636433 @default.
- W3131649064 cites W2842089854 @default.
- W3131649064 cites W2908852832 @default.
- W3131649064 cites W2913201817 @default.
- W3131649064 cites W2968694796 @default.
- W3131649064 cites W2999253226 @default.
- W3131649064 doi "https://doi.org/10.1109/iros45743.2020.9340745" @default.
- W3131649064 hasPublicationYear "2020" @default.
- W3131649064 type Work @default.
- W3131649064 sameAs 3131649064 @default.
- W3131649064 citedByCount "3" @default.
- W3131649064 countsByYear W31316490642023 @default.
- W3131649064 crossrefType "proceedings-article" @default.
- W3131649064 hasAuthorship W3131649064A5013273202 @default.
- W3131649064 hasAuthorship W3131649064A5016982993 @default.
- W3131649064 hasAuthorship W3131649064A5017839261 @default.
- W3131649064 hasAuthorship W3131649064A5031036223 @default.
- W3131649064 hasAuthorship W3131649064A5046447340 @default.
- W3131649064 hasConcept C104114177 @default.
- W3131649064 hasConcept C107457646 @default.
- W3131649064 hasConcept C127413603 @default.
- W3131649064 hasConcept C154945302 @default.
- W3131649064 hasConcept C41008148 @default.
- W3131649064 hasConcept C44154836 @default.
- W3131649064 hasConcept C48007421 @default.
- W3131649064 hasConcept C60692881 @default.
- W3131649064 hasConcept C81074085 @default.
- W3131649064 hasConcept C90509273 @default.
- W3131649064 hasConceptScore W3131649064C104114177 @default.
- W3131649064 hasConceptScore W3131649064C107457646 @default.
- W3131649064 hasConceptScore W3131649064C127413603 @default.
- W3131649064 hasConceptScore W3131649064C154945302 @default.
- W3131649064 hasConceptScore W3131649064C41008148 @default.
- W3131649064 hasConceptScore W3131649064C44154836 @default.
- W3131649064 hasConceptScore W3131649064C48007421 @default.
- W3131649064 hasConceptScore W3131649064C60692881 @default.
- W3131649064 hasConceptScore W3131649064C81074085 @default.
- W3131649064 hasConceptScore W3131649064C90509273 @default.
- W3131649064 hasLocation W31316490641 @default.
- W3131649064 hasOpenAccess W3131649064 @default.
- W3131649064 hasPrimaryLocation W31316490641 @default.
- W3131649064 hasRelatedWork W1804325819 @default.
- W3131649064 hasRelatedWork W2031129854 @default.
- W3131649064 hasRelatedWork W2037851209 @default.
- W3131649064 hasRelatedWork W2039271084 @default.
- W3131649064 hasRelatedWork W2049809359 @default.
- W3131649064 hasRelatedWork W2117918488 @default.
- W3131649064 hasRelatedWork W2160792351 @default.
- W3131649064 hasRelatedWork W2541098390 @default.
- W3131649064 hasRelatedWork W2997729061 @default.
- W3131649064 hasRelatedWork W4385626272 @default.
- W3131649064 isParatext "false" @default.
- W3131649064 isRetracted "false" @default.
- W3131649064 magId "3131649064" @default.
- W3131649064 workType "article" @default.