Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints.
Gian Maria GasparriSilvia ManaraDanilo CaporaleGiuseppe AvertaManuel BonillaHamal MarinoManuel G. CatalanoGiorgio GrioliMatteo BianchiAntonio BicchiManolo GarabiniPublished in: IEEE Robotics Autom. Lett. (2018)