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Zero-moment point based balance control of leg-wheel hybrid structures with inequality constraints of kinodynamic behavior.
Sang-ik An
Yonghwan Oh
Dong-Soo Kwon
Published in:
IROS (2012)
Keyphrases
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inequality constraints
convex quadratic
control method
control system
constrained optimization
control strategy
nonlinear programming
computational complexity
interior point methods
neural network
reinforcement learning
equality constraints