Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance

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Authors: Ahmad Gazar, Majid Khadiv, Andrea Del Prete, Ludovic Righetti

Journal title: 2021 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

Journal publisher: IEEE

Published year: 2021

DOI identifier: 10.1109/humanoids47582.2021.9555783