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09/30/2022
ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
Online trajectory optimization techniques generally depend on heuristic-...
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07/20/2022
Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots
Model Predictive Control (MPC) approaches are widely used in robotics, s...
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03/08/2022
Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots
To traverse complex scenarios reliably a legged robot needs to move its ...
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05/12/2021
Mobility-enhanced MPC for Legged Locomotion on Rough Terrain
Re-planning in legged locomotion is crucial to track a given set-point w...
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10/15/2019