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Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots., , , , , and . IROS, page 8388-8395. IEEE, (2021)Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control., , , and . ICRA, page 8352-8358. IEEE, (2021)Perceptive Locomotion through Nonlinear Model Predictive Control., , , , and . CoRR, (2022)Optimal Design of Robotic Character Kinematics., , , , and . ACM Trans. Graph., 42 (6): 195:1-195:15 (December 2023)Feedback MPC for Torque-Controlled Legged Robots., , , and . IROS, page 4730-4737. IEEE, (2019)Locomotion Planning through a Hybrid Bayesian Trajectory Optimization., , , , and . ICRA, page 5544-5550. IEEE, (2019)DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots., , , , , and . ACM Trans. Graph., 42 (4): 96:1-96:14 (August 2023)Offline motion libraries and online MPC for advanced mobility skills., , , , , , , , and . Int. J. Robotics Res., 41 (9-10): 903-924 (2022)Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics., , , , , , and . Humanoids, page 622-629. IEEE, (2022)Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks., , , , and . ICRA, page 1651-1657. IEEE, (2021)