# An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control

> Research article (Frontiers in Robotics and AI, 2020) · cited 50× · AI/ML

**Wikidata**: [openalex:W3019094582](https://www.wikidata.org/wiki/openalex:W3019094582)  
**Source**: https://4ort.xyz/entity/an-optimization-based-locomotion-controller-for-quadruped-robots-leveraging-cartesian-impedance-control