Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion

Published in Proceedings of Dynamic Walking, 2022

Recommended citation: Z. Zhou*, B. Wingo (Q. Huang)*, N. Boyd, S. Hutchinson, and Y. Zhao, "Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion." IEEE Robotics and Automation Letters (RA-L), May, 2022. https://arxiv.org/pdf/2203.01548.pdf