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Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation.

Andrew S. HabibFilippo M. SmaldoneNicola SciancaLeonardo LanariGiuseppe Oriolo
Published in: IROS (2022)
Keyphrases
  • convex constraints
  • convex optimization
  • global consistency
  • motion capture
  • linear constraints
  • convex programming
  • humanoid robot
  • objective function
  • high resolution