– Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplace’s equation as a local-minima free method for producing potential-ï¬...
— This paper describes a generation method for spatially natural biped walking. By limiting the COG (Center of Gravity) motion space to a sculptured surface, the degree of freedo...
— In this paper, we consider a motion planning problem for a class of constrained nonlinear systems. In each simplex of a triangulation of the set of states, the nonlinear dynami...
We present an algorithm for large-scale equality constrained optimization. The method is based on a characterization of inexact sequential quadratic programming (SQP) steps that ca...
Abstract We present a matrix-free line search algorithm for large-scale equality constrained optimization that allows for inexact step computations. For sufficiently convex problem...