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Commit 733cf0e7 authored by mnaveau's avatar mnaveau
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Adding equality constraint in the QP of the Herdt2010 algortihm to limit the... 

Adding equality constraint in the QP of the Herdt2010 algortihm to limit the evolution of the feet close to the landing time.
Few correction on the Morisawa's PG
parent 01b90401
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