-
Notifications
You must be signed in to change notification settings - Fork 4
/
ma-thesis.out.ps
152 lines (152 loc) · 3.2 KB
/
ma-thesis.out.ps
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
%!
/pdfmark where{pop}
{/globaldict where{pop globaldict}{userdict}ifelse/pdfmark/cleartomark load put}
ifelse
[
/Title(Introduction)
/Count -4
/Action/GoTo/Dest(chapter.1)cvn
/OUT pdfmark
[
/Title(Motivation)
/Action/GoTo/Dest(section.1.1)cvn
/OUT pdfmark
[
/Title(Related Work)
/Action/GoTo/Dest(section.1.2)cvn
/OUT pdfmark
[
/Title(Contribution)
/Action/GoTo/Dest(section.1.3)cvn
/OUT pdfmark
[
/Title(Structure)
/Action/GoTo/Dest(section.1.4)cvn
/OUT pdfmark
[
/Title(Background: Optimal Bipedal Locomotion)
/Count -5
/Action/GoTo/Dest(chapter.2)cvn
/OUT pdfmark
[
/Title(Foundations of Bipedal Locomotion)
/Action/GoTo/Dest(section.2.1)cvn
/OUT pdfmark
[
/Title(Stability Analysis: Not Falling Down)
/Action/GoTo/Dest(section.2.2)cvn
/OUT pdfmark
[
/Title(Differential Dynamic Programming \(DDP\))
/Action/GoTo/Dest(section.2.3)cvn
/OUT pdfmark
[
/Title(Handling Constraints with DDP)
/Action/GoTo/Dest(section.2.4)cvn
/OUT pdfmark
[
/Title(RH5 Humanoid Robot)
/Action/GoTo/Dest(section.2.5)cvn
/OUT pdfmark
[
/Title(Contact Stability Constrained DDP)
/Count -3
/Action/GoTo/Dest(chapter.3)cvn
/OUT pdfmark
[
/Title(Idea: Constraining the CoP of each Contact Surface)
/Action/GoTo/Dest(section.3.1)cvn
/OUT pdfmark
[
/Title(Center of Pressure Constraints)
/Action/GoTo/Dest(section.3.2)cvn
/OUT pdfmark
[
/Title(Integration into the Crocoddyl Framework)
/Action/GoTo/Dest(section.3.3)cvn
/OUT pdfmark
[
/Title(Bipedal Walking Variants)
/Count -3
/Action/GoTo/Dest(chapter.4)cvn
/OUT pdfmark
[
/Title(Formulation of the Optimization Problem)
/Action/GoTo/Dest(section.4.1)cvn
/OUT pdfmark
[
/Title(Inequality Constraints for Physical Compliance)
/Action/GoTo/Dest(section.4.2)cvn
/OUT pdfmark
[
/Title(Trajectories for Increasing Mechanism Complexity)
/Action/GoTo/Dest(section.4.3)cvn
/OUT pdfmark
[
/Title(Highly-Dynamic Movements)
/Count -3
/Action/GoTo/Dest(chapter.5)cvn
/OUT pdfmark
[
/Title(Formulation of the Optimization Problems)
/Action/GoTo/Dest(section.5.1)cvn
/OUT pdfmark
[
/Title(Trajectories for Increasing Task Complexity)
/Action/GoTo/Dest(section.5.2)cvn
/OUT pdfmark
[
/Title(Identification of Limits in System Design)
/Action/GoTo/Dest(section.5.3)cvn
/OUT pdfmark
[
/Title(Experimental Validation on the RH5 Humanoid)
/Count -4
/Action/GoTo/Dest(chapter.6)cvn
/OUT pdfmark
[
/Title(Preliminaries)
/Action/GoTo/Dest(section.6.1)cvn
/OUT pdfmark
[
/Title(Quasi-Static Movements)
/Action/GoTo/Dest(section.6.2)cvn
/OUT pdfmark
[
/Title(Static Bipedal Walking)
/Action/GoTo/Dest(section.6.3)cvn
/OUT pdfmark
[
/Title(Dynamic Bipedal Walking)
/Action/GoTo/Dest(section.6.4)cvn
/OUT pdfmark
[
/Title(Conclusion and Outlook)
/Count -2
/Action/GoTo/Dest(chapter.7)cvn
/OUT pdfmark
[
/Title(Summary)
/Action/GoTo/Dest(section.7.1)cvn
/OUT pdfmark
[
/Title(Future Directions)
/Action/GoTo/Dest(section.7.2)cvn
/OUT pdfmark
[
/Title(Appendix)
/Count -2
/Action/GoTo/Dest(appendix.A)cvn
/OUT pdfmark
[
/Title(Crocoddyl: Contact RObot COntrol by Differential DYnamic programming Library \(Wiki Home\))
/Action/GoTo/Dest(section.A.1)cvn
/OUT pdfmark
[
/Title(Crocoddyl Wiki: Differential Action Model for Floating in Contact Systems \(DAMFIC\))
/Action/GoTo/Dest(section.A.2)cvn
/OUT pdfmark
[
/Title(Bibliography)
/Action/GoTo/Dest(chapter*.18)cvn
/OUT pdfmark