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However, the calculation time also increases and, perhaps, the timing condition cannot be met.
The calculation time is the average time to calculate the whole-joint angles at each control step.
To reduce the calculation time of motion generation, we estimated the torso posture using SVR before calculating the joint angles.
We measured the calculation time for 48 clients.
In Fig. 15, the calculation time jitter is shown.
Figure 18 shows the calculation time of the time steps.
Since the most of the calculation time is spent after the binary becomes hard, the calculation time strongly depends on the criterion of the (Delta t_{mathrm{soft}}).
It is based on the calculation time and the accurrancy of convex approximation.
The Taguchi method can reduce the calculation model amount and the calculation time significantly.
We report numerical tests that validate the accuracy of the models, and reduce the calculation time.
Some operators of GA are selected to reduce the calculation time and obtain good calculation accuracy.
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