%0 Conference Paper %B IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) %D 2012 %T Control by Gradient Collocation: Applications to Optimal Obstacle Avoidance and Minimum Torque Control %A P. Ruvolo %A T. Wu %A J. Movellan %B IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) %G eng