Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent

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Authors: Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti

Journal title: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems

Journal publisher: IEEE

Published year: 2021

DOI identifier: 10.1109/iros51168.2021.9635856