Intrinsically stable MPC for humanoid gait generation

Nicola Scianca, Marco Cognetti, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo. Intrinsically stable MPC for humanoid gait generation. In 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, November 15-17, 2016. pages 601-606, IEEE, 2016. [doi]

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