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31.
  • Passive Whole-Body Control ... Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain
    Fahmi, Shamel; Mastalli, Carlos; Focchi, Michele ... IEEE robotics and automation letters, 07/2019, Volume: 4, Issue: 3
    Journal Article
    Peer reviewed
    Open access

    We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the ...
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32.
  • Quadruped Robot Control: An... Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves
    Pedro, Gabriel Duarte Gonçalves; Bermudez, Gabriel; Medeiros, Vivian Suzano ... Sensors (Basel, Switzerland), 06/2024, Volume: 24, Issue: 12
    Journal Article
    Peer reviewed
    Open access

    In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, ...
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33.
  • iCub Whole-Body Control thr... iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts
    Nori, Francesco; Traversaro, Silvio; Eljaik, Jorhabib ... Frontiers in robotics and AI, 03/2015, Volume: 2
    Journal Article
    Peer reviewed
    Open access

    This paper details the implementation of state-of-the-art whole-body control algorithms on the humanoid robot iCub. We regulate the forces between the robot and its surrounding environment to ...
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34.
  • Design and control of BRAVE... Design and control of BRAVER: a bipedal robot actuated via proprioceptive electric motors
    Zhu, Zhengguo; Zhu, Weiliang; Zhang, Guoteng ... Autonomous robots, 12/2023, Volume: 47, Issue: 8
    Journal Article
    Peer reviewed

    This paper presents the design and control of a high-speed running bipedal robot, BRAVER. The robot, which weighs 8.6 kg and is 0.36 m tall, has six active degrees, all of which are driven by custom ...
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35.
  • Experimental Investigations... Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot
    Popescu, Mihaela; Mronga, Dennis; Bergonzani, Ivan ... Sensors (Basel, Switzerland), 12/2022, Volume: 22, Issue: 24
    Journal Article
    Peer reviewed
    Open access

    Regardless of recent advances, humanoid robots still face significant difficulties in performing locomotion tasks. Among the key challenges that must be addressed to achieve robust bipedal locomotion ...
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36.
  • A Novel Approach to Informa... A Novel Approach to Information Security in Medical Sensor Networks
    Karunakaran, Kalaivani; Rajagopal, Sivakumar The open biomedical engineering journal, 12/2021, Volume: 15, Issue: 1
    Journal Article
    Peer reviewed

    Objective: Preservation of patient’s medical information in health care industries under Medical Sensor Networks (MSN). Methods: This paper proposes a novel key management technique known as k- ...
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37.
  • A Study on the conceptual s... A Study on the conceptual structure of judo's kakehiki
    ARIYAMA, Atsutoshi; YAMAMOTO, Koji; HOSYO, Takashi ... Taiikugaku kenkyu (Japan Journal of Physical Education, Health and Sport Sciences), 2023, 2023-00-00, Volume: 68
    Journal Article
    Open access

    This study aimed to clarify the conceptual structure of the kakehiki movements in judo (offense and defense involving tactical intent leading up to a technique designed to create an advantageous ...
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38.
  • Whole-body impedance contro... Whole-body impedance control of wheeled mobile manipulators
    Dietrich, Alexander; Bussmann, Kristin; Petit, Florian ... Autonomous robots, 03/2016, Volume: 40, Issue: 3
    Journal Article
    Peer reviewed

    Humanoid service robots in domestic environments have to interact with humans and their surroundings in a safe and reliable way. One way to manage that is to equip the robotic systems with ...
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39.
  • Versatile Locomotion Planni... Versatile Locomotion Planning and Control for Humanoid Robots
    Ahn, Junhyeok; Jorgensen, Steven Jens; Bang, Seung Hyeon ... Frontiers in robotics and AI, 08/2021, Volume: 8
    Journal Article
    Peer reviewed
    Open access

    We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole-body control method, ...
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