Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

作者：Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci · 单位：Frontier Robotics, Innovative Research Excellence; Honda R&D, Saitama, Japan, Machine Learning and Optimisation, The University of Manchester, Manchester, United Kingdom · 会议/期刊：IEEE RA-L 2025 · 方向：2025 · 发布日期：2025