FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4385413615> ?p ?o ?g. }

• W4385413615 endingPage "3820" @default.
• W4385413615 startingPage "3805" @default.
• W4385413615 abstract "Quadruped locomotion is rapidly maturing to a degree where robots are able to realize highly dynamic maneuvers. However, current planners are unable to vary key gait parameters of the in-swing feet <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>midair</i> . In this article, we address this limitation and show that it is pivotal in increasing controller robustness by learning a latent space capturing the key stance phases constituting a particular gait. This is achieved via a generative model trained on a single trot style, which encourages disentanglement such that application of a drive signal to a single dimension of the latent state induces holistic plans synthesizing a continuous variety of trot styles. We demonstrate that specific properties of the drive signal map directly to gait parameters, such as cadence, footstep height, and full-stance duration. Due to the nature of our approach, these synthesized gaits are continuously variable online during robot operation. The use of a generative model facilitates the detection and mitigation of disturbances to provide a versatile and robust planning framework. We evaluate our approach on two versions of the real ANYmal quadruped robots and demonstrate that our method achieves a continuous blend of dynamic trot styles while being robust and reactive to external perturbations." @default.
• W4385413615 created "2023-08-01" @default.
• W4385413615 creator A5015428481 @default.
• W4385413615 creator A5023103880 @default.
• W4385413615 creator A5027013897 @default.
• W4385413615 creator A5036958906 @default.
• W4385413615 creator A5051019466 @default.
• W4385413615 creator A5062876271 @default.
• W4385413615 creator A5068877998 @default.
• W4385413615 creator A5072631552 @default.
• W4385413615 date "2023-10-01" @default.
• W4385413615 modified "2023-10-16" @default.
• W4385413615 title "VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation" @default.
• W4385413615 cites W1972978214 @default.
• W4385413615 cites W2037729465 @default.
• W4385413615 cites W2054973084 @default.
• W4385413615 cites W2111253117 @default.
• W4385413615 cites W2143729862 @default.
• W4385413615 cites W2150317946 @default.
• W4385413615 cites W2618245409 @default.
• W4385413615 cites W2738799195 @default.
• W4385413615 cites W2744484133 @default.
• W4385413615 cites W2779458783 @default.
• W4385413615 cites W2788030459 @default.
• W4385413615 cites W2793991136 @default.
• W4385413615 cites W2911087563 @default.
• W4385413615 cites W3011016396 @default.
• W4385413615 cites W3048550213 @default.
• W4385413615 cites W3090207068 @default.
• W4385413615 cites W3105372678 @default.
• W4385413615 cites W3112664346 @default.
• W4385413615 cites W3130593574 @default.
• W4385413615 cites W3134918303 @default.
• W4385413615 cites W3203184215 @default.
• W4385413615 cites W3206363916 @default.
• W4385413615 cites W3206833690 @default.
• W4385413615 cites W3207637958 @default.
• W4385413615 cites W4250058668 @default.
• W4385413615 cites W4285102374 @default.
• W4385413615 cites W4289522461 @default.
• W4385413615 cites W4296966920 @default.
• W4385413615 doi "https://doi.org/10.1109/tro.2023.3297015" @default.
• W4385413615 hasPublicationYear "2023" @default.
• W4385413615 type Work @default.
• W4385413615 citedByCount "0" @default.
• W4385413615 crossrefType "journal-article" @default.
• W4385413615 hasAuthorship W4385413615A5015428481 @default.
• W4385413615 hasAuthorship W4385413615A5023103880 @default.
• W4385413615 hasAuthorship W4385413615A5027013897 @default.
• W4385413615 hasAuthorship W4385413615A5036958906 @default.
• W4385413615 hasAuthorship W4385413615A5051019466 @default.
• W4385413615 hasAuthorship W4385413615A5062876271 @default.
• W4385413615 hasAuthorship W4385413615A5068877998 @default.
• W4385413615 hasAuthorship W4385413615A5072631552 @default.
• W4385413615 hasBestOaLocation W43854136152 @default.
• W4385413615 hasConcept C104317684 @default.
• W4385413615 hasConcept C127413603 @default.
• W4385413615 hasConcept C151800584 @default.
• W4385413615 hasConcept C154945302 @default.
• W4385413615 hasConcept C167966045 @default.
• W4385413615 hasConcept C17744445 @default.
• W4385413615 hasConcept C185592680 @default.
• W4385413615 hasConcept C199539241 @default.
• W4385413615 hasConcept C24326235 @default.
• W4385413615 hasConcept C2775924081 @default.
• W4385413615 hasConcept C2776359362 @default.
• W4385413615 hasConcept C2777125575 @default.
• W4385413615 hasConcept C31972630 @default.
• W4385413615 hasConcept C39890363 @default.
• W4385413615 hasConcept C41008148 @default.
• W4385413615 hasConcept C42407357 @default.
• W4385413615 hasConcept C47446073 @default.
• W4385413615 hasConcept C55493867 @default.
• W4385413615 hasConcept C63479239 @default.
• W4385413615 hasConcept C86803240 @default.
• W4385413615 hasConcept C90509273 @default.
• W4385413615 hasConcept C94625758 @default.
• W4385413615 hasConceptScore W4385413615C104317684 @default.
• W4385413615 hasConceptScore W4385413615C127413603 @default.
• W4385413615 hasConceptScore W4385413615C151800584 @default.
• W4385413615 hasConceptScore W4385413615C154945302 @default.
• W4385413615 hasConceptScore W4385413615C167966045 @default.
• W4385413615 hasConceptScore W4385413615C17744445 @default.
• W4385413615 hasConceptScore W4385413615C185592680 @default.
• W4385413615 hasConceptScore W4385413615C199539241 @default.
• W4385413615 hasConceptScore W4385413615C24326235 @default.
• W4385413615 hasConceptScore W4385413615C2775924081 @default.
• W4385413615 hasConceptScore W4385413615C2776359362 @default.
• W4385413615 hasConceptScore W4385413615C2777125575 @default.
• W4385413615 hasConceptScore W4385413615C31972630 @default.
• W4385413615 hasConceptScore W4385413615C39890363 @default.
• W4385413615 hasConceptScore W4385413615C41008148 @default.
• W4385413615 hasConceptScore W4385413615C42407357 @default.
• W4385413615 hasConceptScore W4385413615C47446073 @default.
• W4385413615 hasConceptScore W4385413615C55493867 @default.
• W4385413615 hasConceptScore W4385413615C63479239 @default.
• W4385413615 hasConceptScore W4385413615C86803240 @default.
• W4385413615 hasConceptScore W4385413615C90509273 @default.

• next