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Zero-moment point based balance control of leg-wheel hybrid structures with inequality constraints of dynamic behavior.
Sang-ik An
Yonghwan Oh
Dong-Soo Kwon
Published in:
ICRA (2012)
Keyphrases
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dynamic behavior
inequality constraints
control method
convex quadratic
control strategy
interior point methods
nonlinear programming
control system
constrained optimization
linear programming
equality constraints
neural network
humanoid robot
constraint propagation
biological systems