Optimization-based generation and experimental validation of optimal walking trajectories for biped robots

Alexander Werner, Roberto Lampariello, Christian Ott. Optimization-based generation and experimental validation of optimal walking trajectories for biped robots. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 4373-4379, IEEE, 2012. [doi]

Abstract

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