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A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization.

Yisoo LeeSanghyun KimJaeheung ParkNikos G. TsagarakisJinoh Lee
Published in: IEEE Access (2021)
Keyphrases
  • constrained optimization
  • inequality constraints
  • nonlinear programming
  • convex quadratic
  • optimization algorithm