Zobrazeno 1 - 10
of 7 156
pro vyhledávání: '"Wensing A"'
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed app
Externí odkaz:
http://arxiv.org/abs/2404.00591
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
Autor:
Li, He, Wensing, Patrick M.
This work introduces an optimization-based locomotion control framework for on-the-fly synthesis of complex dynamic maneuvers. At the core of the proposed framework is a cascaded-fidelity model predictive controller (Cafe-Mpc). Cafe-Mpc strategically
Externí odkaz:
http://arxiv.org/abs/2403.03995
Many energy-based control strategies for mechanical systems require the choice of a Coriolis factorization satisfying a skew-symmetry property. This paper explores (a) if and when a control designer has flexibility in this choice, (b) what choice sho
Externí odkaz:
http://arxiv.org/abs/2312.14425
We propose a novel approach for generalizing the following rigid-body dynamics algorithms: Recursive Newton-Euler Algorithm, Articulated-Body Algorithm, and Extended-Force-Propagator Algorithm. The classic versions of these recursive algorithms requi
Externí odkaz:
http://arxiv.org/abs/2311.13732
Autor:
Posh, Ryan R., Tittle, Jonathan A., Kelly, David J., Schmiedeler, James P., Wensing, Patrick M.
For robotic transtibial prosthesis control, the global kinematics of the tibia can be used to monitor the progression of the gait cycle and command smooth and continuous actuation. In this work, these global tibia kinematics are used to define a phas
Externí odkaz:
http://arxiv.org/abs/2309.15955
Differential Dynamic Programming (DDP) is an efficient computational tool for solving nonlinear optimal control problems. It was originally designed as a single shooting method and thus is sensitive to the initial guess supplied. This work considers
Externí odkaz:
http://arxiv.org/abs/2309.07872
Autor:
Regina Poß-Doering, Jan Koetsenruijter, Nicola Alexandra Litke, Aline Weis, Martina Köppen, Stephanie Kümmel, Joachim Szecsenyi, Michel Wensing
Publikováno v:
Archives of Public Health, Vol 82, Iss 1, Pp 1-12 (2024)
Abstract Background In recent years, health systems worldwide have been confronted with several crises such as natural disasters or the COVID-19 pandemic, that affected lives and health of many people. In light of waves of infections and heat, climat
Externí odkaz:
https://doaj.org/article/1fa3f167ecae4fabbea6bf642a4c9b26
Autor:
Paul Wilson, Gregory A. Aarons, Anne Sales, Dong (Roman) Xu, Michel Wensing, Alison Hutchinson, Rinad S. Beidas, Elvin Geng
Publikováno v:
Implementation Science, Vol 19, Iss 1, Pp 1-7 (2024)
Abstract This editorial updates the scope and submission expectations of Implementation Science and Implementation Science Communications. We refine our protocol publishing policies and set out new expectations for reporting studies describing determ
Externí odkaz:
https://doaj.org/article/c7d565841ead41dc9e769be9702a3738
Publikováno v:
BMC Medical Education, Vol 24, Iss 1, Pp 1-9 (2024)
Abstract Inquiry-based learning (IBL) is a type of problem-based learning. While IBL aims at reflecting the work of practicing researchers, only some students will pursue an academic career. We therefore designed a course that provides opportunities
Externí odkaz:
https://doaj.org/article/2324d989067b42c19d2c58e18ad9a6fc
Autor:
Catharina Roth, Leonie Maier, Bastian Abel, Patrick Roigk, Kilian Rapp, Oliver Schmidberger, Martin Bongartz, Simone Maier, Isabel Wirth, Brigitte Metz, Désirée Immel, Benjamin Finger, Sabine Schölch, Gisela Büchele, Oliver Deuster, Hans‑Helmut Koenig, Sophie Gottschalk, Judith Dams, William Micol, Jürgen M. Bauer, Michel Wensing, Petra Benzinger
Publikováno v:
BMC Geriatrics, Vol 24, Iss 1, Pp 1-18 (2024)
Abstract Background Geriatric rehabilitation aims at increasing physical and social activity and maintaining the functional reserve of older people. However, the continuity of geriatric rehabilitation in the outpatient setting is limited due to a lac
Externí odkaz:
https://doaj.org/article/c2d40c1ca297463d8c1adfad42418dc3