Concurrent contact planning and trajectory optimization in one step walking motion

Keyphrases

• Assigned Task 33%
• Biped 100%
• Contact Force Distribution 33%
• Contact Planning 100%
• Contact Response 33%
• Contact Status 33%
• Contact Trajectory 100%
• Design Analysis 33%
• Design Control 33%
• Ground Reaction Force 33%
• Indeterminate Problem 33%
• Multibody Systems 33%
• Nonlinear Constrained Optimization Problems 33%
• Nonlinear Programming 33%
• Numerical Experiments 33%
• Optimal Motion Planning 66%
• Plan Optimization 100%
• Planning Framework 33%
• Predictive Methods 66%
• Robotic System 33%
• Sequential Quadratic Programming 33%
• Simulation Analysis 33%
• Simulation Control 33%
• Simulation-based Design 33%
• Step Motion 33%
• Trajectory Control 33%
• Trajectory Optimization 100%
• Unilateral Contact 33%
• Walking Motion 100%

Engineering

• Constrained Optimization Problem 100%
• Contact Force 100%
• Design Analysis 100%
• Multibody System 100%
• Numerical Experiment 100%
• One Step 100%
• Progression 100%
• Reaction Force 100%
• Robotic System 100%
• Tasks 100%

Chemical Engineering

• Constrained Optimization 50%
• Motion Planning 100%