Matches in SemOpenAlex for { <https://semopenalex.org/work/W4323928369> ?p ?o ?g. }
Showing items 1 to 99 of
99
with 100 items per page.
- W4323928369 endingPage "104401" @default.
- W4323928369 startingPage "104401" @default.
- W4323928369 abstract "In this paper we introduce a Sequential Convex Programming (SCP) algorithm for the motion generation with the centroidal dynamics of legged robots using a sequential bounds tightening of McCormick envelopes strategy to cope with the nonconvexity of the problem (related to bilinear terms). Therefore, the proposed SCP algorithm is initialized with relaxed McCormick envelopes and then their bounds are sequentially tightened around the current estimate of the solution enforcing this way convergence to a feasible point. The SCP algorithm solves a quadratic program at each iteration by an interior point method. Additionally, the proposed SCP algorithm is alternated with an inverse kinematics algorithm to achieve the whole body motion generation. Finally, extensive numerical experiments show the effectiveness of the proposed algorithm in generating highly agile motions such as trotting, bounding, stotting and running for humanoid and quadruped robots." @default.
- W4323928369 created "2023-03-12" @default.
- W4323928369 creator A5000210723 @default.
- W4323928369 creator A5021137712 @default.
- W4323928369 creator A5086321453 @default.
- W4323928369 date "2023-06-01" @default.
- W4323928369 modified "2023-09-23" @default.
- W4323928369 title "Whole body motion generation with centroidal dynamics of legged robots using sequential bounds tightening of McCormick envelopes" @default.
- W4323928369 cites W1855462127 @default.
- W4323928369 cites W1945123189 @default.
- W4323928369 cites W1970101292 @default.
- W4323928369 cites W2009680197 @default.
- W4323928369 cites W2037790839 @default.
- W4323928369 cites W2070299075 @default.
- W4323928369 cites W2080108722 @default.
- W4323928369 cites W2080514141 @default.
- W4323928369 cites W2120575449 @default.
- W4323928369 cites W2123871098 @default.
- W4323928369 cites W2142224528 @default.
- W4323928369 cites W2470094176 @default.
- W4323928369 cites W2618245409 @default.
- W4323928369 cites W2788030459 @default.
- W4323928369 cites W3127527157 @default.
- W4323928369 cites W3167066427 @default.
- W4323928369 cites W3206363916 @default.
- W4323928369 cites W4221155215 @default.
- W4323928369 cites W4283734789 @default.
- W4323928369 doi "https://doi.org/10.1016/j.robot.2023.104401" @default.
- W4323928369 hasPublicationYear "2023" @default.
- W4323928369 type Work @default.
- W4323928369 citedByCount "0" @default.
- W4323928369 crossrefType "journal-article" @default.
- W4323928369 hasAuthorship W4323928369A5000210723 @default.
- W4323928369 hasAuthorship W4323928369A5021137712 @default.
- W4323928369 hasAuthorship W4323928369A5086321453 @default.
- W4323928369 hasConcept C11413529 @default.
- W4323928369 hasConcept C121332964 @default.
- W4323928369 hasConcept C126255220 @default.
- W4323928369 hasConcept C129844170 @default.
- W4323928369 hasConcept C154945302 @default.
- W4323928369 hasConcept C162324750 @default.
- W4323928369 hasConcept C17816587 @default.
- W4323928369 hasConcept C187523126 @default.
- W4323928369 hasConcept C205203396 @default.
- W4323928369 hasConcept C2524010 @default.
- W4323928369 hasConcept C2777303404 @default.
- W4323928369 hasConcept C28719098 @default.
- W4323928369 hasConcept C31972630 @default.
- W4323928369 hasConcept C33923547 @default.
- W4323928369 hasConcept C39920418 @default.
- W4323928369 hasConcept C41008148 @default.
- W4323928369 hasConcept C50522688 @default.
- W4323928369 hasConcept C60692881 @default.
- W4323928369 hasConcept C63584917 @default.
- W4323928369 hasConcept C74650414 @default.
- W4323928369 hasConcept C81845259 @default.
- W4323928369 hasConcept C90509273 @default.
- W4323928369 hasConceptScore W4323928369C11413529 @default.
- W4323928369 hasConceptScore W4323928369C121332964 @default.
- W4323928369 hasConceptScore W4323928369C126255220 @default.
- W4323928369 hasConceptScore W4323928369C129844170 @default.
- W4323928369 hasConceptScore W4323928369C154945302 @default.
- W4323928369 hasConceptScore W4323928369C162324750 @default.
- W4323928369 hasConceptScore W4323928369C17816587 @default.
- W4323928369 hasConceptScore W4323928369C187523126 @default.
- W4323928369 hasConceptScore W4323928369C205203396 @default.
- W4323928369 hasConceptScore W4323928369C2524010 @default.
- W4323928369 hasConceptScore W4323928369C2777303404 @default.
- W4323928369 hasConceptScore W4323928369C28719098 @default.
- W4323928369 hasConceptScore W4323928369C31972630 @default.
- W4323928369 hasConceptScore W4323928369C33923547 @default.
- W4323928369 hasConceptScore W4323928369C39920418 @default.
- W4323928369 hasConceptScore W4323928369C41008148 @default.
- W4323928369 hasConceptScore W4323928369C50522688 @default.
- W4323928369 hasConceptScore W4323928369C60692881 @default.
- W4323928369 hasConceptScore W4323928369C63584917 @default.
- W4323928369 hasConceptScore W4323928369C74650414 @default.
- W4323928369 hasConceptScore W4323928369C81845259 @default.
- W4323928369 hasConceptScore W4323928369C90509273 @default.
- W4323928369 hasFunder F4320313760 @default.
- W4323928369 hasLocation W43239283691 @default.
- W4323928369 hasOpenAccess W4323928369 @default.
- W4323928369 hasPrimaryLocation W43239283691 @default.
- W4323928369 hasRelatedWork W2016087539 @default.
- W4323928369 hasRelatedWork W2019606703 @default.
- W4323928369 hasRelatedWork W2090619052 @default.
- W4323928369 hasRelatedWork W2651794802 @default.
- W4323928369 hasRelatedWork W2738633084 @default.
- W4323928369 hasRelatedWork W2906619410 @default.
- W4323928369 hasRelatedWork W2919421421 @default.
- W4323928369 hasRelatedWork W3003321721 @default.
- W4323928369 hasRelatedWork W3091482710 @default.
- W4323928369 hasRelatedWork W4323928369 @default.
- W4323928369 hasVolume "164" @default.
- W4323928369 isParatext "false" @default.
- W4323928369 isRetracted "false" @default.
- W4323928369 workType "article" @default.