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- W4287862105 abstract "This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear programming problem is not tractable for state-of-the-art solvers, but it is possible to overcome this complication by exploiting the structure induced by the kinematics of the robot. The non-trivial transcription proposed allows trajectory optimization frameworks to converge to highly robust dynamic solutions. We demonstrate the results of our approach using a quadruped robot equipped with a manipulator." @default.
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- W4287862105 date "2020-03-01" @default.
- W4287862105 modified "2023-10-17" @default.
- W4287862105 title "Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections" @default.
- W4287862105 doi "https://doi.org/10.48550/arxiv.2003.00609" @default.
- W4287862105 hasPublicationYear "2020" @default.
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