Discussions on the generation of the Center Of Mass trajectory for Loco3D.
- A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion (ICRA 2016): https://hal.archives-ouvertes.fr/hal-01203507
- A convex model of humanoid momentum dynamics for multi-contact motion generation (HUMANOIDS 2016): https://arxiv.org/pdf/1607.08644v1.pdf
- CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem (IROS 2018): https://hal.archives-ouvertes.fr/hal-01726155
- Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization (RAL 2018): https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/241888/18-ral-winkler_.pdf?sequence=1