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Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach.
Stefano Dafarra
Giulio Romualdi
Giorgio Metta
Daniele Pucci
Published in:
CoRR (2020)
Keyphrases
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optimization algorithm
humanoid robot
optimization problems
optimization method
highly non linear
optimization methods
optimization process
generation process
discrete optimization
database systems
global optimization
genetic algorithm
constrained optimization
optimal design
trajectory data