A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances

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Authors: Guiyang Xin; Hsiu-Chin Lin; Joshua Smith; Oguzhan Cebe; Michael Mistry

Journal title: ICRA

Journal number: 29

Journal publisher: IEEE

Published year: 2018

DOI identifier: 10.1109/icra.2018.8461172