Exploring Differential Dynamic Programming For Multi Phase Rigid Contact Dynamics Humanoids
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Differential Dynamic Programming Authors: Yuval Tassa, Nicolas Mansard, Emo Todorov Article published in IEEE ICRA 2014 (Hong Kong) ... Contact by Noëlie RAMUZAT, Florent FORGET, Vincent Bonnet, Maxime Gautier, Sébastien BORIA, Olivier Stasse.
A novel whole-body model predictive control (MPC) scheme that enables optimizing the trajectory and switching times ...
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