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Generating optimal trajectory of humanoid arm that minimizes torque variation using differential dynamic programming.
In-Won Park
Young-Dae Hong
Bum-Joo Lee
Jong-Hwan Kim
Published in:
ICRA (2012)
Keyphrases
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dynamic programming
optimal control
state space
data sets
piecewise linear
locally optimal
optimal policy
worst case
control algorithm
stereo matching
joint space
generation process
optimal design
motion planning
multi modal
evolutionary algorithm
optimal solution
multiscale