Zobrazeno 1 - 10
of 15
pro vyhledávání: '"Yanran Ding"'
Publikováno v:
Frontiers in Public Health, Vol 9 (2021)
This study uses the logit model through questionnaire data of Beijing in 2019 to investigate the participation willingness of online timebank elderly care, especially to discover different influencing factors on the participation willingness between
Externí odkaz:
https://doaj.org/article/db639287eaa24fd19b58b377dfaad6b5
Publikováno v:
IEEE Transactions on Robotics. 37:1154-1171
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational dynamics us
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8088e2b662e0975bd8fd1310c93342ad
https://doi.org/10.1109/tro.2020.3046415
https://doi.org/10.1109/tro.2020.3046415
This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision avoidance cannot guarantee collision-free trajectories as they
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::14d0d701210e60eade1d47745babaa6e
This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM) to enable t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ee13b36e3ab31b87cd884e6542f4aff4
Publikováno v:
IEEE Robotics and Automation Letters. 4:3355-3362
In this letter, we present qpSWIFT, a real-time quadratic program (QP) solver. Motivated by the need for a robust embedded QP solver in robotic applications, qpSWIFT employs standard primal-dual interior-point method, along with Mehrotra predictor–
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::535fdf7632e0dea84e9f135334730252
https://doi.org/10.1109/lra.2019.2926664
https://doi.org/10.1109/lra.2019.2926664
Autor:
Yanran Ding1 dddhxx@163.com
Publikováno v:
Educational Sciences: Theory & Practice. Dec2018, Vol. 18 Issue 6, p2895-2903. 9p. 2 Diagrams, 3 Charts, 1 Graph.
Publikováno v:
ICRA
This paper proposes a hybrid planning framework that generates complex dynamic motion plans for jumping legged robots to traverse challenging terrains. By employing a motion primitive, the original problem is decoupled as path planning followed by a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::85051270b7d30281658a75c6c1b9fbb2
https://doi.org/10.1109/icra48506.2021.9561939
https://doi.org/10.1109/icra48506.2021.9561939
Publikováno v:
IROS
This paper proposes a kinodynamic motion plan-ning framework for multi-legged robot jumping based on the mixed-integer convex program (MICP), which simultaneously reasons about centroidal motion, contact points, wrench, and gait sequences. This metho
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::098737641cdbae53c15162713fc023ce
Publikováno v:
ICRA
This paper presents a new Model Predictive Control (MPC) framework for controlling various dynamic movements of a quadrupedal robot. System dynamics are represented by linearizing single rigid body dynamics in three-dimensional (3D) space. Our formul
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9ea9b0e392facdff80a3f607c21cc71c
https://doi.org/10.1109/icra.2019.8793669
https://doi.org/10.1109/icra.2019.8793669
Publikováno v:
Mechatronics. 68:102364
This paper presents a trajectory optimization framework for planning dynamic legged locomotion based on a robot’s centroidal momentum (CM), which is the aggregation of all the links’ momenta at the robot’s Center of Mass (CoM). This new framewo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ac523d751d921bbdbbc0166a1171d42a
https://doi.org/10.1016/j.mechatronics.2020.102364
https://doi.org/10.1016/j.mechatronics.2020.102364