C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios

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Authors: Pierre Fernbach, Steve Tonneau, Olivier Stasse, Justin Carpentier, Michel Taix

Journal title: IEEE Transactions on Robotics

Journal number: 36/3

Journal publisher: Institute of Electrical and Electronics Engineers

Published year: 2020

Published pages: 676-691

DOI identifier: 10.1109/tro.2020.2964787

ISSN: 1552-3098