# Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 17× · AI/ML

**Wikidata**: [openalex:W3153834124](https://www.wikidata.org/wiki/openalex:W3153834124)  
**Source**: https://4ort.xyz/entity/bipedal-walking-on-constrained-footholds-momentum-regulation-via-vertical-com-control