An efficient and direct method for trajectory optimization of robots constrained by contact kinematics and forces.
Jaemin LeeEfstathios BakolasLuis SentisPublished in: Auton. Robots (2021)
Keyphrases
- concave convex procedure
- global optimization
- optimization algorithm
- optimization process
- mobile robot
- optimization problems
- constrained optimization
- cooperative
- humanoid robot
- robotic systems
- human robot interaction
- collision free
- computationally efficient
- dynamic environments
- autonomous robots
- lagrange multipliers
- human robot
- multi objective