# 3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation

> Research article (2016 IEEE 55th Conference on Decision and Control (CDC), 2016) · cited 11× · AI/ML

**Wikidata**: [openalex:W2569016953](https://www.wikidata.org/wiki/openalex:W2569016953)  
**Source**: https://4ort.xyz/entity/3d-multi-contact-gait-design-for-prostheses-hybrid-system-models-virtual-constraints-and-two-step-direct-collocation