Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring, Marco Hutter 0001, Jonas Buchli. Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. IEEE Robotics and Automation Letters, 3(2):1458-1465, 2018. [doi]
Abstract is missing.