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Design and Control of a Multimodal Legged-Aerial Robot via Separate Control Contraction Metrics

A paper proposes a design and control method for a multimodal quadrupedal aerial-legged robot, using separate Control Contraction Metrics (CCM) to search offline for contraction metrics for walking and flight respectively, unified by an online energy-based Control Lyapunov Function Quadratic Program (CLF QP) to achieve optimal cross-domain control allocation.

Part of the event: Proposes a unified control framework based on contraction metrics for quadrupedal aerial robots

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