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A contact-implicit direct trajectory optimization scheme for the study of legged maneuverability
For legged robots to move safely in unpredictable environments, they need to be manoeuvrable, but transient motions such as acceleration, deceleration and turning have been the subject of little research compared to constant-speed gait. They are difficult to study for two reasons: firstly, the way t...
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| Format: | Thesis |
| Language: | English |
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Department of Electrical Engineering
2023
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