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Humanoid Trajectory Optimization with B-Splines and Analytical Centroidal Momentum Derivatives.
Alvaro Paz
Gustavo Arechavaleta
Published in:
Int. J. Humanoid Robotics (2024)
Keyphrases
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b spline
control points
basis functions
tensor product
least squares
higher order
piecewise polynomial
linear combination
learning rate
free form deformation
contour extraction
affine transformation
anatomical structures
spatially variant
cubic spline
cubic b spline