A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control
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Publication:2835496
DOI10.1002/oca.2228zbMath1351.93099OpenAlexW2216740760MaRDI QIDQ2835496
Hong-yang Li, Yan-Tao Tian, Jing Wang, Zhongbo Sun
Publication date: 5 December 2016
Published in: Optimal Control Applications and Methods (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/oca.2228
global convergenceperiodic gaitbipedal walking robotdiscrete mechanics and optimal controlfeasible sequential quadratic programming algorithm
Quadratic programming (90C20) Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)
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