Abstract: This letter presents a trajectory planner for humanoid robots to perform dynamic motions on complex, parameterizable terrains using a contact-implicit whole-body optimization framework. The ...

Abstract: In this article, an optimal position control framework based on online adaptive dynamic programming is proposed for magnetically actuated capsules (MACs). First, sensorless magnetic force ...

This project implements a CVaR-minimizing portfolio optimization model based on the seminal paper "Optimization of Conditional Value-at-Risk" by Rockafellar and Uryasev (2000). The analysis uses ...

Enterprises across industries, from energy to finance, use optimization models to plan complex operations like supply chains and logistics. These models work by defining three elements: the choices ...