# 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

> Research article (2016 IEEE International Conference on Robotics and Automation (ICRA), 2016) · cited 205× · AI/ML

**Wikidata**: [openalex:W2413990562](https://www.wikidata.org/wiki/openalex:W2413990562)  
**Source**: https://4ort.xyz/entity/3d-dynamic-walking-with-underactuated-humanoid-robots-a-direct-collocation-framework-for-optimizing-hybrid-zero-dynamics