Model Predictive Control With Environment Adaptation for Legged Locomotion. - Niraj Rathod; Angelo Bratta; Michele Focchi; Mario Zanon; Octavio Villarreal; Claudio Semini; Alberto Bemporad (IEEE Access, 2021)

Mobility-enhanced MPC for Legged Locomotion on Rough Terrain. - Niraj Rathod; Angelo Bratta; Michele Focchi; Mario Zanon; Octavio Villarreal; Claudio Semini; Alberto Bemporad (CoRR, 2021)

Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots. - Angelo Bratta; Michele Focchi; Niraj Rathod; Mario Zanon; Alberto Bemporad; Claudio Semini (CoRR, 2022)

Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots. - Angelo Bratta; Michele Focchi; Niraj Rathod; Claudio Semini (Robotics, 2023)