Benjamin Chretien, Adrien Escande, Abderrahmane Kheddar. Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015. pages 3956-3961, IEEE, 2015. [doi]
Abstract is missing.