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Whole-body model predictive control with rigid contacts via online switching time optimization

Sotaro Katayama, Toshiyuki Ohtsuka. Whole-body model predictive control with rigid contacts via online switching time optimization. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022. pages 8858-8865, IEEE, 2022. [doi]

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Sotaro Katayama

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Toshiyuki Ohtsuka

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