Bipedal Walking Control using Variable Horizon MPC. - Elham Daneshmand; Majid Khadiv; Felix Grimminger; Ludovic Righetti (CoRR, 2020)

A unified framework for walking and running of bipedal robots. - Mahrokh Ghoddousi Boroujeni; Elham Daneshmand; Ludovic Righetti; Majid Khadiv (ICAR, 2021)

Variable Horizon MPC With Swing Foot Dynamics for Bipedal Walking Control. - Elham Daneshmand; Majid Khadiv; Felix Grimminger; Ludovic Righetti (IEEE Robotics Autom. Lett., 2021)