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Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot.
Neel Doshi
Kaushik Jayaram
Benjamin Goldberg
Zachary Manchester
Robert J. Wood
Scott Kuindersma
Published in:
CoRR (2019)
Keyphrases
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optimization algorithm
legged robots
optimization problems
moving objects
optimization method
global optimization
degrees of freedom
constrained optimization
evolution strategy
neural network
objective function
optimization process
robot control