Gabriel García, Robert J. Griffin, Jerry E. Pratt. MPC-based Locomotion Control of Bipedal Robots with Line-Feet Contact using Centroidal Dynamics. In 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2021, Munich, Germany, July 19-21, 2021. pages 276-282, IEEE, 2021. [doi]
Abstract is missing.