Balancing and walking using full dynamics LQR control with contact constraints

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Authors: Sean Mason, Nicholas Rotella, Stefan Schaal, Ludovic Righetti

Journal title: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

Journal publisher: IEEE

Published year: 2016

Published pages: 63-68

DOI identifier: 10.1109/HUMANOIDS.2016.7803255

ISBN: 978-1-5090-4718-5