Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control

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Authors: Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti

Journal title: IEEE Robotics and Automation Letters

Journal number: 6(2)

Journal publisher: IEEE

Published year: 2021

Published pages: 2349-2356

DOI identifier: 10.1109/lra.2021.3061381

ISSN: 2377-3766