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SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program.
Xiaobin Xiong
Aaron D. Ames
Published in:
CoRR (2021)
Keyphrases
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rough terrain
quadratic program
legged locomotion
humanoid robot
nonlinear systems
linear constraints
optical flow
special case
mixed integer
quadratic programming