FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3200703604> ?p ?o ?g. }

• W3200703604 abstract "To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that can approximately model the centroidal inertia. This model abstracts the robot as a single rigid body for the base and point masses for the legs. The model is called the Lump Leg Single Rigid Body Model (LL-SRBM) and can be used to plan motions for both bipedal and quadrupedal robots. By taking the effects of leg dynamics into account, LL-SRBM provides a computationally efficient way for the motion planner to change the centroidal inertia of the robot with various leg configurations. Concurrently, we propose a novel contact detection method by using the norm of the average spatial velocity. After the contact is detected, the controller is switched to force control to achieve a soft landing. Twisting jump and forward jump experiments on the bipedal robot SLIDER and quadrupedal robot ANYmal demonstrate the improved jump performance by actively changing the centroidal inertia. These experiments also show the generalization and the robustness of the integrated planning and control framework." @default.
• W3200703604 created "2021-09-27" @default.
• W3200703604 creator A5026906414 @default.
• W3200703604 creator A5036281885 @default.
• W3200703604 creator A5041360325 @default.
• W3200703604 creator A5069715982 @default.
• W3200703604 creator A5072891996 @default.
• W3200703604 creator A5082553836 @default.
• W3200703604 date "2021-09-09" @default.
• W3200703604 modified "2023-09-28" @default.
• W3200703604 title "A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots" @default.
• W3200703604 cites W1499277207 @default.
• W3200703604 cites W1648985167 @default.
• W3200703604 cites W1945123189 @default.
• W3200703604 cites W1968294545 @default.
• W3200703604 cites W1974420726 @default.
• W3200703604 cites W2003013030 @default.
• W3200703604 cites W2013439434 @default.
• W3200703604 cites W2018860673 @default.
• W3200703604 cites W2123871098 @default.
• W3200703604 cites W2139612757 @default.
• W3200703604 cites W2143729862 @default.
• W3200703604 cites W2161427949 @default.
• W3200703604 cites W2762248135 @default.
• W3200703604 cites W2767578104 @default.
• W3200703604 cites W2807762448 @default.
• W3200703604 cites W2842089854 @default.
• W3200703604 cites W2909331752 @default.
• W3200703604 cites W2913389117 @default.
• W3200703604 cites W2968213087 @default.
• W3200703604 cites W2972810470 @default.
• W3200703604 cites W3125925428 @default.
• W3200703604 cites W3131866908 @default.
• W3200703604 cites W3133097009 @default.
• W3200703604 cites W3136831392 @default.
• W3200703604 cites W3206363598 @default.
• W3200703604 doi "https://doi.org/10.48550/arxiv.2109.04581" @default.
• W3200703604 hasPublicationYear "2021" @default.
• W3200703604 type Work @default.
• W3200703604 sameAs 3200703604 @default.
• W3200703604 citedByCount "0" @default.
• W3200703604 crossrefType "posted-content" @default.
• W3200703604 hasAuthorship W3200703604A5026906414 @default.
• W3200703604 hasAuthorship W3200703604A5036281885 @default.
• W3200703604 hasAuthorship W3200703604A5041360325 @default.
• W3200703604 hasAuthorship W3200703604A5069715982 @default.
• W3200703604 hasAuthorship W3200703604A5072891996 @default.
• W3200703604 hasAuthorship W3200703604A5082553836 @default.
• W3200703604 hasBestOaLocation W32007036041 @default.
• W3200703604 hasConcept C104317684 @default.
• W3200703604 hasConcept C110407247 @default.
• W3200703604 hasConcept C121332964 @default.
• W3200703604 hasConcept C145980571 @default.
• W3200703604 hasConcept C154945302 @default.
• W3200703604 hasConcept C185592680 @default.
• W3200703604 hasConcept C2775924081 @default.
• W3200703604 hasConcept C2779908020 @default.
• W3200703604 hasConcept C2780695682 @default.
• W3200703604 hasConcept C28461519 @default.
• W3200703604 hasConcept C41008148 @default.
• W3200703604 hasConcept C44154836 @default.
• W3200703604 hasConcept C47446073 @default.
• W3200703604 hasConcept C55493867 @default.
• W3200703604 hasConcept C62520636 @default.
• W3200703604 hasConcept C63479239 @default.
• W3200703604 hasConcept C74650414 @default.
• W3200703604 hasConcept C90509273 @default.
• W3200703604 hasConceptScore W3200703604C104317684 @default.
• W3200703604 hasConceptScore W3200703604C110407247 @default.
• W3200703604 hasConceptScore W3200703604C121332964 @default.
• W3200703604 hasConceptScore W3200703604C145980571 @default.
• W3200703604 hasConceptScore W3200703604C154945302 @default.
• W3200703604 hasConceptScore W3200703604C185592680 @default.
• W3200703604 hasConceptScore W3200703604C2775924081 @default.
• W3200703604 hasConceptScore W3200703604C2779908020 @default.
• W3200703604 hasConceptScore W3200703604C2780695682 @default.
• W3200703604 hasConceptScore W3200703604C28461519 @default.
• W3200703604 hasConceptScore W3200703604C41008148 @default.
• W3200703604 hasConceptScore W3200703604C44154836 @default.
• W3200703604 hasConceptScore W3200703604C47446073 @default.
• W3200703604 hasConceptScore W3200703604C55493867 @default.
• W3200703604 hasConceptScore W3200703604C62520636 @default.
• W3200703604 hasConceptScore W3200703604C63479239 @default.
• W3200703604 hasConceptScore W3200703604C74650414 @default.
• W3200703604 hasConceptScore W3200703604C90509273 @default.
• W3200703604 hasLocation W32007036041 @default.
• W3200703604 hasOpenAccess W3200703604 @default.
• W3200703604 hasPrimaryLocation W32007036041 @default.
• W3200703604 hasRelatedWork W1676571098 @default.
• W3200703604 hasRelatedWork W1982505463 @default.
• W3200703604 hasRelatedWork W1997062551 @default.
• W3200703604 hasRelatedWork W2096785830 @default.
• W3200703604 hasRelatedWork W2119231921 @default.
• W3200703604 hasRelatedWork W2347674089 @default.
• W3200703604 hasRelatedWork W2592922629 @default.
• W3200703604 hasRelatedWork W2980055948 @default.
• W3200703604 hasRelatedWork W3027249399 @default.
• W3200703604 hasRelatedWork W3150397998 @default.
• W3200703604 isParatext "false" @default.
• W3200703604 isRetracted "false" @default.

• next