# Bipedal Walking on Constrained Footholds with MPC Footstep Control

> Research article (2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4390480952](https://www.wikidata.org/wiki/openalex:W4390480952)  
**Source**: https://4ort.xyz/entity/bipedal-walking-on-constrained-footholds-with-mpc-footstep-control