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Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties.
Fabrizio Flacco
Alessandro De Luca
Published in:
Robotics Auton. Syst. (2015)
Keyphrases
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global optimization
optimization algorithm
high resolution
dynamic model
information redundancy
optimization problems
optimization method
desirable properties
contact force
constrained optimization
velocity vector
optimization model
levels of abstraction
lower level
optimization process
fuzzy logic
multi objective