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A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts., , and . EUROS, volume 44 of Springer Tracts in Advanced Robotics, page 303-312. Springer, (2008)Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model., , and . Int. J. Robotics Res., 36 (11): 1211-1242 (2017)Constraint-consistent task-oriented whole-body robot formulation: Task, posture, constraints, multiple contacts, and balance., , , , and . Int. J. Robotics Res., 41 (13-14): 1079-1098 (2022)Learning Contact-based Navigation in Crowds., , and . CoRR, (2023)Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control., , , , , and . CoRR, (2019)Reachability-based Trajectory Optimization for Robotic Systems Given Sequences of Rigid Contacts., , , and . ACC, page 2158-2165. IEEE, (2020)BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning., , , and . CDC, page 1404-1409. IEEE, (2020)A Barrier Pair Method for Safe Human-Robot Shared Autonomy., , , and . CDC, page 2854-2861. IEEE, (2021)Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control., , , , and . CoRR, (2022)Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries., , , and . CoRR, (2022)