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χoχδ ε○χ join the origin Ɛ with y compose χ with increments in the local frame χδ or in εδ
χoχδ, ε○χ join the origin Ɛ with y, compose χ with increments in the local frame χδ or in
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Multi-finger grasp
Physics
Differentiable function
Optimal adaptive robust H∞ H2 sliding mode
Tangent space on a manifold
Optimal adaptive robust H∞ H2 sliding mode
Control barrier function Nagumo invariance
Mathematics
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Intresting things
Hybrid zero dynamics trajectory optimization
Math builds thePhysics
Lyapunov stability
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Convex hull
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Mathematics
Convex and strictly convex sets
Optimal adaptive robust H∞ H2 sliding mode
The Lie algebra, g, is the tangent space to the Lie group, G, centered at the identity element
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Gradient of f is parallel to the gradient of g (x0,y0). ∇f + λ∇g = 0
Math