# Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots

> Research article (IEEE Robotics and Automation Letters, 2025) · cited 12× · AI/ML

**Wikidata**: [openalex:W4406982999](https://www.wikidata.org/wiki/openalex:W4406982999)  
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