Invariant Manifold of Symmetric Orbits for Globally Optimal Biped Locomotion.
Sang-Ho HyonKenji FujimotoPublished in: SyRoCo (2009)
Keyphrases
- globally optimal
- graph cuts
- dynamical systems
- mobile robot
- manifold learning
- optimal decisions
- locally optimal
- low dimensional
- surface segmentation
- global optimality
- biped walking
- high dimensional
- convex relaxation
- control law
- humanoid robot
- affine invariant
- feature space
- control strategy
- degrees of freedom
- rough terrain
- geometric structure
- robotic systems
- pairwise