# An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control

> Research article (2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022) · cited 28× · AI/ML

**Wikidata**: [openalex:W4221140104](https://www.wikidata.org/wiki/openalex:W4221140104)  
**Source**: https://4ort.xyz/entity/an-error-state-model-predictive-control-on-connected-matrix-lie-groups-for-legged-robot-control