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An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control

Guiyang Xin, Wouter Wolfslag, Hsiu-Chin Lin, Carlo Tiseo, Michael N. Mistry. An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control. Front. Robotics and AI, 7:48, 2020. [doi]

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