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SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program.
Xiaobin Xiong
Aaron D. Ames
Published in:
IEEE Robotics Autom. Lett. (2021)
Keyphrases
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rough terrain
quadratic program
humanoid robot
legged locomotion
machine learning
linear programming
convex optimization
nonlinear systems
maximum margin
bayesian networks
input image
linear program
approximation algorithms
mixed integer
quadratic programming