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Efficient terrain map using planar regions for footstep planning on humanoid robots
Humanoid robots possess the ability to perform complex tasks in challenging environments.
However, they require a model of the surroundings in a representation that is sufficient …
However, they require a model of the surroundings in a representation that is sufficient …
A fast, autonomous, bipedal walking behavior over rapid regions
In trying to build humanoid robots that perform useful tasks in a world built for humans, we
address the problem of autonomous locomotion. Humanoid robot planning and control …
address the problem of autonomous locomotion. Humanoid robot planning and control …
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms
This paper proposes a comprehensive framework designed for the autonomous inspection
of complex environments, with a specific focus on multi-tiered settings such as distillation …
of complex environments, with a specific focus on multi-tiered settings such as distillation …
Perception engine using a multi-sensor head to enable high-level humanoid robot behaviors
For achieving significant levels of autonomy, legged robot behaviors require perceptual
awareness of both the terrain for traversal, as well as structures and objects in their …
awareness of both the terrain for traversal, as well as structures and objects in their …
A behavior architecture for fast humanoid robot door traversals
Bipedal navigation planning over rough terrain using traversability models
We present a planning framework designed for humanoid navigation over challenging
terrain. This framework is designed to plan a traversable, smooth, and collision-free path …
terrain. This framework is designed to plan a traversable, smooth, and collision-free path …
Feasible Region Construction by Polygon Merging for Continuous Bipedal Walking
Feasible regions for continuous walking must provide necessary information for footstep
planning, including surrounding landing areas and details about obstacles to be avoided …
planning, including surrounding landing areas and details about obstacles to be avoided …
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion
that an individual experiences on a daily basis, and for an effective, real-world humanoid …
that an individual experiences on a daily basis, and for an effective, real-world humanoid …
Humanoid Walking System with CNN-Based Uneven Terrain Recognition and Landing Control with Swing-Leg Velocity Constraints
In order for a humanoid robot to traverse uneven terrain without falling over, the robot must
control its landing position appropriately. To determine the landing position, there are two …
control its landing position appropriately. To determine the landing position, there are two …