cs.RO
Mohamed Elobaid Giulio Turrisi Lorenzo Rapetti Giulio Romualdi Stefano Dafarra Tomohiro Kawakami Tomohiro Chaki Takahide Yoshiike Claudio Semini Daniele Pucci
Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots