Angelo Bratta Online Optimization-based Gait Adaptation of Quadruped Robot Locomotion. 2023 University of Genoa, Italy https://hdl.handle.net/11567/1107764 https://doi.org/10.15167/bratta-angelo_phd2023-02-27 https://www.base-search.net/Record/22db8e207d8a5eda0f1182c6755cfe2132fcdea2b506324e50ddeabe2f484a5a base-search.net (ftunivgenova:oai:iris.unige.it:11567/1107764)