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- W2324341763 abstract "This paper proposes a new approach to online solve the optimal control problem of a humanoid robot modelled as a hybrid system. It minimizes a performance index defined over the states trajectories by finding the optimal switching times given a fixed switching sequence. The gradient of this cost functional is computed by using the sensitivities of the system’s states with respect to the switching times, which let us to express them as a continuous dynamics.Simulation examples are provided to show the effectiveness of the proposed approach" @default.
- W2324341763 created "2016-06-24" @default.
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- W2324341763 date "2013-01-01" @default.
- W2324341763 modified "2023-10-16" @default.
- W2324341763 title "Optimal Control of a Humanoid Robot Modelled by Autonomous Switched System" @default.
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- W2324341763 doi "https://doi.org/10.2316/p.2013.807-049" @default.
- W2324341763 hasPublicationYear "2013" @default.
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