Before revision: In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through three aspects: 1) fast model predictive foothold planning,  2) LQR control for robust motion tracking and 3) adaptive feet for terrain adaptation .
After revision: In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through three aspects: 1) fast model predictive foothold planning, 2) applying LQR to projected inverse dynamic control for robust motion tracking and 3) adaptive feet for terrain adaptation .