scholarly journals Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces

2021 ◽  
Vol 54 (20) ◽  
pp. 72-77
Author(s):  
Amir Iqbal ◽  
Yan Gu
Keyword(s):  
Rigid Surfaces ◽  
Capture Point

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

scholarly journals Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control

2017 ◽  
Author(s):  
Milad Shafiee-Ashtiani ◽  
Aghil Yousefi-Koma ◽  
Reihaneh Mirjalili ◽  
Hessam Maleki ◽  
Mojtaba Karimi
Keyword(s):  
Feedback Control ◽  
Humanoid Robot ◽  
Push Recovery ◽  
Capture Point

scholarly journals Stabilization of the Capture Point Dynamics for Bipedal Walking based on Model Predictive Control

2012 ◽  
Vol 45 (22) ◽  
pp. 165-171 ◽  
Author(s):  
Manuel Krause ◽  
Johannes Englsberger ◽  
Pierre-Brice Wieber ◽  
Christian Ott
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Bipedal Walking ◽  
Capture Point

scholarly journals Extraction of Guardrails from MMS Data Using Convolutional Neural Network

2021 ◽  
Vol 15 (3) ◽  
pp. 258-267
Author(s):  
Hiroki Matsumoto ◽  
◽  
Yuma Mori ◽  
Hiroshi Masuda
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Asset Management ◽  
Extraction Method ◽  
Point Clouds ◽  
Mobile Mapping ◽  
Method Point ◽  
Mobile Mapping Systems ◽  
Capture Point ◽  
Mapping Systems

Mobile mapping systems can capture point clouds and digital images of roadside objects. Such data are useful for maintenance, asset management, and 3D map creation. In this paper, we discuss methods for extracting guardrails that separate roadways and walkways. Since there are various shape patterns for guardrails in Japan, flexible methods are required for extracting them. We propose a new extraction method based on point processing and a convolutional neural network (CNN). In our method, point clouds and images are segmented into small fragments, and their features are extracted using CNNs for images and point clouds. Then, features from images and point clouds are combined and investigated using whether they are guardrails or not. Based on our experiments, our method could extract guardrails from point clouds with a high success rate.

scholarly journals A Pair of Rigid Surfaces with pg= q = 2 and K2= 8 Whose Universal Cover is Not the Bidisk

2018 ◽  
Vol 2020 (11) ◽  
pp. 3453-3493
Author(s):  
Francesco Polizzi ◽  
Carlos Rito ◽  
Xavier Roulleau
Keyword(s):  
Minimal Surfaces ◽  
Universal Cover ◽  
The Family ◽  
Albanese Map ◽  
Rigid Surfaces

Abstract We construct two complex-conjugated rigid minimal surfaces with $p_g\!=q=2$ and $K^2\!=8$ whose universal cover is not biholomorphic to the bidisk $\mathbb{H} \times \mathbb{H}$. We show that these are the unique surfaces with these invariants and Albanese map of degree 2, apart from the family of product-quotient surfaces given in [33]. This completes the classification of surfaces with $p_g=q=2, K^2=8$, and Albanese map of degree 2.

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