FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4312366924> ?p ?o ?g. }

• W4312366924 endingPage "1394" @default.
• W4312366924 startingPage "1379" @default.
• W4312366924 abstract "We introduce a novel method of producing stable walking gaits for the acrobot using virtual holonomic constraints (VHCs). Using this method, we produce a new stable walking motion for the acrobot, the walkover gait. In this gait, the swing leg rotates counterclockwise up and over the stance leg, as opposed to the standard compass gait where the swing leg rotates clockwise and overlaps with the stance leg partway along the motion. The walkover gait is found by searching for a VHC enjoying certain properties, among them the requirement of producing a stable hybrid limit cycle corresponding to walking. Key to the proposed approach is the recently developed notion of the virtual constraint generator (VCG), a control system on the configuration manifold of the robot whose solutions are all possible VHCs up to reparametrization. A systematic procedure is presented for the synthesis of VHCs achieving the desired walking motion for the acrobot, culminating in an optimal control problem for the VCG, solved numerically to produce the gait. Theoretical characterizations are given for the feasibility of the gait generation problem." @default.
• W4312366924 created "2023-01-04" @default.
• W4312366924 creator A5015751405 @default.
• W4312366924 creator A5019748121 @default.
• W4312366924 date "2023-05-01" @default.
• W4312366924 modified "2023-09-23" @default.
• W4312366924 title "On the Synthesis of Stable Walkover Gaits for the Acrobot" @default.
• W4312366924 cites W129037336 @default.
• W4312366924 cites W1487434675 @default.
• W4312366924 cites W1523068507 @default.
• W4312366924 cites W1978299852 @default.
• W4312366924 cites W1992559929 @default.
• W4312366924 cites W1993150647 @default.
• W4312366924 cites W2010398082 @default.
• W4312366924 cites W2016102421 @default.
• W4312366924 cites W2023392182 @default.
• W4312366924 cites W2030515455 @default.
• W4312366924 cites W2074154222 @default.
• W4312366924 cites W2090771768 @default.
• W4312366924 cites W2092444611 @default.
• W4312366924 cites W2098787727 @default.
• W4312366924 cites W2101742065 @default.
• W4312366924 cites W2107610091 @default.
• W4312366924 cites W2112640448 @default.
• W4312366924 cites W2119278652 @default.
• W4312366924 cites W2128131727 @default.
• W4312366924 cites W2137547873 @default.
• W4312366924 cites W2163668399 @default.
• W4312366924 cites W2167322920 @default.
• W4312366924 cites W2312248419 @default.
• W4312366924 cites W2343344619 @default.
• W4312366924 cites W2413990562 @default.
• W4312366924 cites W2522210498 @default.
• W4312366924 cites W2553360740 @default.
• W4312366924 cites W2624635507 @default.
• W4312366924 cites W2756767958 @default.
• W4312366924 cites W2767578104 @default.
• W4312366924 cites W2774367037 @default.
• W4312366924 cites W2792099719 @default.
• W4312366924 cites W2963212932 @default.
• W4312366924 cites W2972798201 @default.
• W4312366924 cites W3010974684 @default.
• W4312366924 cites W4292872153 @default.
• W4312366924 doi "https://doi.org/10.1109/tcst.2022.3224315" @default.
• W4312366924 hasPublicationYear "2023" @default.
• W4312366924 type Work @default.
• W4312366924 citedByCount "0" @default.
• W4312366924 crossrefType "journal-article" @default.
• W4312366924 hasAuthorship W4312366924A5015751405 @default.
• W4312366924 hasAuthorship W4312366924A5019748121 @default.
• W4312366924 hasConcept C116721078 @default.
• W4312366924 hasConcept C121332964 @default.
• W4312366924 hasConcept C127413603 @default.
• W4312366924 hasConcept C1276947 @default.
• W4312366924 hasConcept C13662910 @default.
• W4312366924 hasConcept C145565327 @default.
• W4312366924 hasConcept C151800584 @default.
• W4312366924 hasConcept C154945302 @default.
• W4312366924 hasConcept C173906292 @default.
• W4312366924 hasConcept C20220851 @default.
• W4312366924 hasConcept C2775924081 @default.
• W4312366924 hasConcept C2777964439 @default.
• W4312366924 hasConcept C41008148 @default.
• W4312366924 hasConcept C44154836 @default.
• W4312366924 hasConcept C47446073 @default.
• W4312366924 hasConcept C65655974 @default.
• W4312366924 hasConcept C71924100 @default.
• W4312366924 hasConcept C74650414 @default.
• W4312366924 hasConcept C78519656 @default.
• W4312366924 hasConcept C90509273 @default.
• W4312366924 hasConcept C99508421 @default.
• W4312366924 hasConceptScore W4312366924C116721078 @default.
• W4312366924 hasConceptScore W4312366924C121332964 @default.
• W4312366924 hasConceptScore W4312366924C127413603 @default.
• W4312366924 hasConceptScore W4312366924C1276947 @default.
• W4312366924 hasConceptScore W4312366924C13662910 @default.
• W4312366924 hasConceptScore W4312366924C145565327 @default.
• W4312366924 hasConceptScore W4312366924C151800584 @default.
• W4312366924 hasConceptScore W4312366924C154945302 @default.
• W4312366924 hasConceptScore W4312366924C173906292 @default.
• W4312366924 hasConceptScore W4312366924C20220851 @default.
• W4312366924 hasConceptScore W4312366924C2775924081 @default.
• W4312366924 hasConceptScore W4312366924C2777964439 @default.
• W4312366924 hasConceptScore W4312366924C41008148 @default.
• W4312366924 hasConceptScore W4312366924C44154836 @default.
• W4312366924 hasConceptScore W4312366924C47446073 @default.
• W4312366924 hasConceptScore W4312366924C65655974 @default.
• W4312366924 hasConceptScore W4312366924C71924100 @default.
• W4312366924 hasConceptScore W4312366924C74650414 @default.
• W4312366924 hasConceptScore W4312366924C78519656 @default.
• W4312366924 hasConceptScore W4312366924C90509273 @default.
• W4312366924 hasConceptScore W4312366924C99508421 @default.
• W4312366924 hasFunder F4320334593 @default.
• W4312366924 hasIssue "3" @default.
• W4312366924 hasLocation W43123669241 @default.
• W4312366924 hasOpenAccess W4312366924 @default.
• W4312366924 hasPrimaryLocation W43123669241 @default.
• W4312366924 hasRelatedWork W2018832822 @default.

• next