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Figure 1.4.: Humanoid robots and their various shape and applications. From left to right — Asimo (home assistant, Honda, 2004), iCub (cognitive studies, RobotCub & IIT, 2004), TORO (interaction with the environment, DLR, 2013), Atlas (disaster respons
Figure 1.6.: Humanoid robotics as three major challenges:
Figure 1.7.: Reactive multi-objective control architecture. Control primitives with their own parameters and reference trajectories are coordinated at the instantaneous level with respect to constraints to produce admissible
Figure 1.9.: Illustration of a distributed approach to multi-objective predictive control.
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