Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots

James Zhu, J. Joe Payne, Aaron M. Johnson. Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots. In IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024. pages 8051-8057, IEEE, 2024. [doi]

Authors

James Zhu

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J. Joe Payne

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Aaron M. Johnson

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