most citedAn Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

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math.OC2021★ 2 cited

IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs

Kai Pfeiffer, Adrien Escande, Ludovic Righetti

Hierarchical least-squares programs with linear constraints (HLSP) are a type of optimization problem very common in robotics. Each priority level contains an objective in least-sq…