Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach.
Stefano DafarraGiulio RomualdiGiorgio MettaDaniele PucciPublished in: ICRA (2020)
Keyphrases
- humanoid robot
- highly non linear
- optimization algorithm
- optimization process
- global optimization
- data sets
- genetic algorithm
- optimization problems
- optimization method
- constrained optimization
- trajectory data
- closed loop
- reference trajectory
- optimization strategies
- optimal design
- path planning
- multi objective
- machine learning