Extremely Fast Computation of CoM Trajectory Generation for Walking Leveraging MPPI Algorithm.
Yunsoo SeoDongwhan KimJaewan BakYonghwan OhYisoo LeePublished in: Humanoids (2023)
Keyphrases
- learning algorithm
- experimental evaluation
- preprocessing
- k means
- np hard
- generation algorithm
- times faster
- classification algorithm
- optimization algorithm
- dynamic programming
- cost function
- probabilistic model
- estimation algorithm
- improved algorithm
- recognition algorithm
- similarity measure
- expectation maximization
- computationally efficient
- theoretical analysis
- segmentation algorithm
- path planning
- data sets
- parallel implementation
- convergence rate
- memory requirements
- objective function
- ant colony optimization
- optimal solution
- particle swarm optimization
- input data
- linear programming
- high accuracy
- worst case
- denoising
- computational cost
- computational complexity