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Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots.

Benjamin ChrétienAdrien EscandeAbderrahmane Kheddar
Published in: IROS (2015)
Keyphrases
  • humanoid robot
  • motion planning
  • contact force
  • optimization algorithm
  • human robot interaction
  • multi modal
  • real time
  • optimization problems
  • robot motion
  • motion capture