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Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses.
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Leveraging cone double description for multi-contact stability of humanoids with applications to statics and dynamics
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A mixed-integer convex optimization framework for robust multilegged robot locomotion planning over challenging terrain
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An efficient acyclic contact planner for multiped robots
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Simultaneous contact, gait, and motion planning for robust multilegged locomotion via mixed-integer convex optimization
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On time optimization of centroidal momentum dynamics
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