04b Atto di convegno in volume
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We consider an iterative computation of negative curvature directions, in large scale optimization frameworks. We show that to the latter purpose, borrowing the ideas in [1,3] and [4], we can fruitfully pair the Conjugate Gradient (CG) method with a recently introduced numerical approach involving...
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In this paper we propose an anytime planning/replanning algorithm aimed at generating motions allowing a humanoid to fulfill an assigned task that implicitly requires stepping. The algorithm interleaves planning and execution intervals: a previously planned whole-body motion is executed while...
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