FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4386702919> ?p ?o ?g. }

• W4386702919 endingPage "7217" @default.
• W4386702919 startingPage "7210" @default.
• W4386702919 abstract "Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult when high horizontal velocities are involved. In this work, we propose an optimization-based reactive Landing Controller that uses only proprioceptive measures for torque-controlled quadruped robots that free-fall on a flat horizontal ground, knowing neither the distance to the landing surface nor the flight time. Based on an estimate of the Center of Mass horizontal velocity, the method uses the Variable Height Springy Inverted Pendulum model for continuously recomputing the feet position while the robot is falling. In this way, the quadruped is ready to attain a successful landing in all directions, even in the presence of significant horizontal velocities. The method is demonstrated to dramatically enlarge the region of horizontal velocities that can be dealt with by a naive approach that keeps the feet still during the airborne stage. To the best of our knowledge, this is the first time that a quadruped robot can successfully recover from falls with horizontal velocities up to <inline-formula xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink><tex-math notation=LaTeX>$3 mathrm{m/s}$</tex-math></inline-formula> in simulation. Experiments prove that the used platform, Go1, can successfully attain a stable standing configuration from falls with various horizontal velocities and different angular perturbations." @default.
• W4386702919 created "2023-09-14" @default.
• W4386702919 creator A5010033061 @default.
• W4386702919 creator A5028390540 @default.
• W4386702919 creator A5038165484 @default.
• W4386702919 creator A5044243940 @default.
• W4386702919 creator A5070148842 @default.
• W4386702919 date "2023-11-01" @default.
• W4386702919 modified "2023-10-13" @default.
• W4386702919 title "Reactive Landing Controller for Quadruped Robots" @default.
• W4386702919 cites W2008342119 @default.
• W4386702919 cites W2054577881 @default.
• W4386702919 cites W2070624020 @default.
• W4386702919 cites W2094444216 @default.
• W4386702919 cites W2125126490 @default.
• W4386702919 cites W2151182239 @default.
• W4386702919 cites W2161427949 @default.
• W4386702919 cites W2470094176 @default.
• W4386702919 cites W2491934829 @default.
• W4386702919 cites W2539534359 @default.
• W4386702919 cites W2562513164 @default.
• W4386702919 cites W2883488766 @default.
• W4386702919 cites W2906487027 @default.
• W4386702919 cites W2958682097 @default.
• W4386702919 cites W2968213087 @default.
• W4386702919 cites W2968764556 @default.
• W4386702919 cites W2971099763 @default.
• W4386702919 cites W3012148556 @default.
• W4386702919 cites W3172321357 @default.
• W4386702919 cites W3188968108 @default.
• W4386702919 cites W3197219002 @default.
• W4386702919 cites W3207111613 @default.
• W4386702919 cites W4285102283 @default.
• W4386702919 cites W4286904426 @default.
• W4386702919 cites W4309579143 @default.
• W4386702919 cites W4317726916 @default.
• W4386702919 cites W4383108459 @default.
• W4386702919 doi "https://doi.org/10.1109/lra.2023.3313919" @default.
• W4386702919 hasPublicationYear "2023" @default.
• W4386702919 type Work @default.
• W4386702919 citedByCount "1" @default.
• W4386702919 crossrefType "journal-article" @default.
• W4386702919 hasAuthorship W4386702919A5010033061 @default.
• W4386702919 hasAuthorship W4386702919A5028390540 @default.
• W4386702919 hasAuthorship W4386702919A5038165484 @default.
• W4386702919 hasAuthorship W4386702919A5044243940 @default.
• W4386702919 hasAuthorship W4386702919A5070148842 @default.
• W4386702919 hasConcept C10138342 @default.
• W4386702919 hasConcept C121332964 @default.
• W4386702919 hasConcept C127413603 @default.
• W4386702919 hasConcept C132668919 @default.
• W4386702919 hasConcept C146978453 @default.
• W4386702919 hasConcept C154945302 @default.
• W4386702919 hasConcept C158622935 @default.
• W4386702919 hasConcept C161840515 @default.
• W4386702919 hasConcept C162324750 @default.
• W4386702919 hasConcept C187736073 @default.
• W4386702919 hasConcept C192921069 @default.
• W4386702919 hasConcept C198082294 @default.
• W4386702919 hasConcept C203479927 @default.
• W4386702919 hasConcept C205649164 @default.
• W4386702919 hasConcept C2775924081 @default.
• W4386702919 hasConcept C36185635 @default.
• W4386702919 hasConcept C41008148 @default.
• W4386702919 hasConcept C44154836 @default.
• W4386702919 hasConcept C47446073 @default.
• W4386702919 hasConcept C47513753 @default.
• W4386702919 hasConcept C57879066 @default.
• W4386702919 hasConcept C58640448 @default.
• W4386702919 hasConcept C62520636 @default.
• W4386702919 hasConcept C6557445 @default.
• W4386702919 hasConcept C86803240 @default.
• W4386702919 hasConcept C90509273 @default.
• W4386702919 hasConceptScore W4386702919C10138342 @default.
• W4386702919 hasConceptScore W4386702919C121332964 @default.
• W4386702919 hasConceptScore W4386702919C127413603 @default.
• W4386702919 hasConceptScore W4386702919C132668919 @default.
• W4386702919 hasConceptScore W4386702919C146978453 @default.
• W4386702919 hasConceptScore W4386702919C154945302 @default.
• W4386702919 hasConceptScore W4386702919C158622935 @default.
• W4386702919 hasConceptScore W4386702919C161840515 @default.
• W4386702919 hasConceptScore W4386702919C162324750 @default.
• W4386702919 hasConceptScore W4386702919C187736073 @default.
• W4386702919 hasConceptScore W4386702919C192921069 @default.
• W4386702919 hasConceptScore W4386702919C198082294 @default.
• W4386702919 hasConceptScore W4386702919C203479927 @default.
• W4386702919 hasConceptScore W4386702919C205649164 @default.
• W4386702919 hasConceptScore W4386702919C2775924081 @default.
• W4386702919 hasConceptScore W4386702919C36185635 @default.
• W4386702919 hasConceptScore W4386702919C41008148 @default.
• W4386702919 hasConceptScore W4386702919C44154836 @default.
• W4386702919 hasConceptScore W4386702919C47446073 @default.
• W4386702919 hasConceptScore W4386702919C47513753 @default.
• W4386702919 hasConceptScore W4386702919C57879066 @default.
• W4386702919 hasConceptScore W4386702919C58640448 @default.
• W4386702919 hasConceptScore W4386702919C62520636 @default.
• W4386702919 hasConceptScore W4386702919C6557445 @default.
• W4386702919 hasConceptScore W4386702919C86803240 @default.

• next