Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro. Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion.
IEEE Robotics and Automation Letters, IEEE 2022, 7 (3), pp.8225-8232.
⟨10.1109/LRA.2022.3186515⟩.
⟨hal-03720407⟩