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Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification

Iori Kumagai, Mitsuharu Morisawa, Shizuko Hattori, Mehdi Benallegue, Fumio Kanehiro. Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification. IEEE Robotics and Automation Letters, 5(4):6379-6387, 2020. [doi]

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