Efficient Multi-Contact Pattern Generation with Sequential Convex 
Approximations of the Centroidal Dynamics

Ponton, Brahayam; Khadiv, Majid; Meduri, Avadesh; Righetti, Ludovic

doi:10.1109/TRO.2020.3048125

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Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics

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Ponton, Brahayam
Research Group Movement Generation and Control, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Khadiv, Majid
Research Group Movement Generation and Control, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Righetti, Ludovic
Research Group Movement Generation and Control, Max Planck Institute for Intelligent Systems, Max Planck Society;
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https://doi.org/10.1109/TRO.2020.3048125
(Publisher version)

https://doi.org/10.48550/arXiv.2010.01215
(Preprint)

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Citation

Ponton, B., Khadiv, M., Meduri, A., & Righetti, L. (2021). Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics. IEEE Transactions on Robotics, 37(5), 1661-1679. doi:10.1109/TRO.2020.3048125.

Cite as: https://hdl.handle.net/21.11116/0000-000F-DCA6-E

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