Add leziart2021.md

Add page for "Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12" article

leziart2021.md

@@ -21,3 +21,5 @@ This paper aims at showing the dynamic performance and reliability of the low-co
 It presents the implementation of a state-of-the-art control pipeline, close to the one that was previously implemented on Mini Cheetah, which implements a model predictive controller based on the centroidal dynamics to compute desired contact forces in order to track a reference velocity.
 Different contributions are proposed to speed up the computation process, notably at the level of the state estimation and the whole body controller.
 Experimental results demonstrate that the robot closely follow the reference velocity while being highly reactive and able to recover from perturbations.
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+Available at https://ieeexplore.ieee.org/document/9834057