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IEEE Transactions on Robotics (T-RO)

ieeetro.bsky.social

did:plc:ttw5tcvxt52gbygtxrgvschk

Authors present a unified #ModelPredictiveControl framework for #humanoid balance, integrating ankle, hip, and stepping strategies, with variable angular momentum weighting, optimized step timing, and an HQP whole-body controller. https://ieeexplore.ieee.org/document/10989514 #LeggedLocomotion

2025-10-08T19:17:07.357Z