 Due to the real-time joint velocity and ground reaction force optimization based on a kinodynamic model , our approachaccurately captures the real robot's dynamics and automatically discovers complex and dynamic motions cumbersome to hand-craft through heuristics.
<clarity>  Due to the real-time joint velocity and ground reaction force optimization based on a kinodynamic model , our approachaccurately captures the real robot's dynamics and automatically discovers complex and dynamic motions cumbersome to hand-craft through heuristics.
 This online joint velocity and ground reaction force optimization based on a kinodynamic model , our approachaccurately captures the real robot's dynamics and automatically discovers complex and dynamic motions cumbersome to hand-craft through heuristics.