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Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization.

Maegan TuckerNoel Csomay-ShanklinAaron D. Ames
Published in: ICRA (2023)
Keyphrases
  • optimization algorithm
  • mobile robot
  • optimization problems
  • robust optimization
  • legged robots
  • degrees of freedom
  • computationally efficient
  • global optimization
  • partial occlusion
  • robotic systems
  • singular values