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A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation.
Diana Serra
Camille Brasseur
Alexander Sherikov
Dimitar Dimitrov
Pierre-Brice Wieber
Published in:
Humanoids (2016)
Keyphrases
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newton method
convergence analysis
linear equations
regularized least squares
variational inequalities
linear svm
optimality conditions
nonlinear model predictive control
quadratic programming
approximation methods
image based visual servoing
least squares