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Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set., , , , , and . IEEE Robotics Autom. Lett., 4 (2): 1611-1618 (2019)Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution., , and . IEEE Robotics Autom. Lett., 3 (1): 60-67 (2018)On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation., , and . IEEE Trans. Robotics, (2024)Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP., , , and . CoRR, (2022)Underactuated Motion Planning and Control for Jumping with Wheeled-Bipedal Robots., , , , , and . CoRR, (2020)Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra., , and . CoRR, (2021)CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality., , , and . CoRR, (2022)Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics., , , and . CoRR, (2021)Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives., , and . CoRR, (2023)Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains., , , and . ICRA, page 1-8. IEEE, (2018)