# A Robust Walking Controller Based on Online Optimization of Ankle, Hip, and Stepping Strategies

> Research article (IEEE Transactions on Robotics, 2019) · cited 68× · AI/ML

**Wikidata**: [openalex:W2966463142](https://www.wikidata.org/wiki/openalex:W2966463142)  
**Source**: https://4ort.xyz/entity/a-robust-walking-controller-based-on-online-optimization-of-ankle-hip-and-stepping-strategies