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Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection

Arne-Christoph Hildebrandt, Robert Wittmann, Felix Sygulla, Daniel Wahrmann, Daniel Rixen, Thomas Buschmann. Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection. Auton. Robots, 43(8):1957-1976, 2019. [doi]

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