Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion

Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro. Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion. IEEE Robotics and Automation Letters, 7(3):8225-8232, 2022. [doi]

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