no code implementations • 28 Jul 2016 • Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti
This model is non-linear and non-convex; however, we find a relaxation of the problem that allows us to formulate it as a single convex quadratically-constrained quadratic program (QCQP) that can be very efficiently optimized.
Robotics
