The paper pairs a learned gait-frequency network with sequential convex MPC to produce variable-step-duration humanoid walking over discrete terrain.
A versatile and efficient pattern genera- tor for generalized legged locomotion,
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Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains
The paper pairs a learned gait-frequency network with sequential convex MPC to produce variable-step-duration humanoid walking over discrete terrain.