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Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics.

Ziyi ZhouYe Zhao
Published in: ACC (2020)
Keyphrases
  • rigid body
  • rigid body motion
  • motion parameters
  • alternating direction method of multipliers
  • legged locomotion
  • least squares
  • machine learning
  • motion estimation
  • convex optimization
  • rough terrain