Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion.

Diego Pardo Michael Neunert Alexander W. Winkler Ruben Grandia Jonas Buchli Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion. 2017 Robotics: Science and Systems http://www.roboticsproceedings.org/rss13/p42.html https://doi.org/10.15607/RSS.2017.XIII.042 conf/rss/2017 db/conf/rss/rss2017.html#PardoNWGB17