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Whole-body model predictive control with rigid contacts via..:

, In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Katayama, Sotaro ; Ohtsuka, Toshiyuki - p. 8858-8865 , 2022
Link: https://doi.org/10.1109/IROS47612.2022.9981790