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In this paper, the recent optimization method uDEAS (univariate dynamic encoding algorithm for searches) is used for generation of biped walking patterns of a humanoid robot. The walking patterns made of optimal blending polynomials are simulated for a simple six degree-of-freedom biped model. uDEAS plays a key role to optimize polynomial coefficients in trajectories assigned to each joint motor....
In this paper, an approach is proposed to determine a real-time collision-free path for an autonomous underwater vehicle (AUV) moving in an unknown underwater space. A class of trajectories is obtained by polynomial parameterization. The coefficients of the polynomial are determined at each sampling period, by satisfying boundary condition and collision avoidance criteria. Based on the class of trajectories,...
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