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03/02/2022
RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms
Deployment of robotic systems in the real world requires a certain level...
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10/11/2020
Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization
Benchmarks of state-of-the-art rigid-body dynamics libraries have report...
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03/01/2020
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
This paper focuses on robustness to disturbance forces and uncertain pay...
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08/15/2019