Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids - researchr publication

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Filippo M. Smaldone, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo. Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids. IEEE Robotics and Automation Letters, 6(2):1582-1589, 2021. [doi]

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