# A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 33× · AI/ML

**Wikidata**: [openalex:W4285021062](https://www.wikidata.org/wiki/openalex:W4285021062)  
**Source**: https://4ort.xyz/entity/a-linearization-of-centroidal-dynamics-for-the-model-predictive-control-of-quadruped-robots