A simulation demonstrates that a variable-length inverted pendulum model with thruster forces and a quadratic-programming controller can track a 40-degree slope reference motion, but hardware transfer is unproven.
Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion,
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Enabling steep slope walking on Husky using reduced order modeling and quadratic programming
A simulation demonstrates that a variable-length inverted pendulum model with thruster forces and a quadratic-programming controller can track a 40-degree slope reference motion, but hardware transfer is unproven.