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20172026
most citedPlanning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain

93 citations · 134 across the 9 of their papers we have counts for

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math.OC2025

Endpoint-Explicit Differential Dynamic Programming via Exact Resolution

Maria Parilli, Sergi Martinez, Carlos Mastalli

We introduce a novel method for handling endpoint constraints in constrained differential dynamic programming (DDP). Unlike existing approaches, our method guarantees quadratic con…