├── BalanceController ├── ConvexMPCLocomotion ├── FootSwingTrajectory ├── Gait ├── LegController ├── PositionVelocityEstimator ├── Quadruped ├── README.md ├── RobotState ├── SolverMPC ├── WBC ├── BodyOriTask ├── BodyPosTask ├── BodyPostureTask ├── ContactSpec ├── KinWBC ├── LinkPosTask ├── LocomotionCtrl ├── SingleContact ├── WBC ├── WBC_Ctrl └── WBIC ├── convexMPC_interface └── ref ├── Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control.pdf ├── High-slope Terrain Locomotion for Torque-Controlled Quadruped.pdf ├── MIT Cheetah 3 Design and Control of a Robust, Dynamic Quadruped Robot.pdf ├── Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots.pdf ├── Rigid Body Dynamics Algorithms.pdf └── highly dynamic quadruped locomotion via whole-body impulse control and model predictive control.pdf /BalanceController: -------------------------------------------------------------------------------- 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