A centroidal-dynamics MPC controller with thrust-vectoring enables a simulated quadruped to walk on a narrow beam and reject lateral pushes.
Multi-Modal Mobility Morphobot (M4) with appendage repurpos- ing for locomotion plasticity enhancement,
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Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways
A centroidal-dynamics MPC controller with thrust-vectoring enables a simulated quadruped to walk on a narrow beam and reject lateral pushes.