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Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints.

Alexander W. WinklerFarbod FarshidianDiego PardoMichael NeunertJonas Buchli
Published in: IEEE Robotics Autom. Lett. (2017)
Keyphrases
  • legged robots
  • control theory
  • real time
  • neural network
  • learning algorithm
  • mobile robot
  • optimization problems
  • multi modal
  • monte carlo
  • optimization method
  • simulation study