Approximate optimal control for reaching and trajectory planning in a humanoid robot
作者： S Ivaldi , M Fumagalli , F Nori , M Baglietto , G Metta
DOI: 10.1109/IROS.2010.5649121
关键词: Inverse kinematics 、 Optimal control 、 Mathematical optimization 、 Mathematics 、 Motion planning 、 Robotic arm 、 Model predictive control 、 Computational model 、 Robot kinematics 、 Control theory 、 Humanoid robot
摘要: … to take from 1 to 4 minutes, even with a fast optimizer as IPOPT [28]. … the DSP boards is impossible in the current setup: the control is indeed computed on the remote PC, while the DSP …
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