 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. Thanks to the single set of parameters for all behaviors, whole-body optimization makes online gait sequence adaptation possible.
<meaning-changed>  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. Thanks to the single set of parameters for all behaviors, whole-body optimization makes online gait sequence adaptation possible.
 Due to the real-time joint velocity and ground reaction force optimization based on a kinodynamic model , our approachaccurately captures the real robot's rolling constraint and dynamics, enabling automatic discovery of hybrid maneuvers without needless motion heuristics. The formulation's generality through the simultaneous optimization over the robot's whole-body variables allows for a single set of parameters for all behaviors, whole-body optimization makes online gait sequence adaptation possible.