# Comparison of direct collocation optimal control to trajectory optimization for parameter identification of an ellipsoidal foot–ground contact model

> Research article (Multibody System Dynamics, 2020) · cited 19× · AI/ML

**Wikidata**: [openalex:W3011992845](https://www.wikidata.org/wiki/openalex:W3011992845)  
**Source**: https://4ort.xyz/entity/comparison-of-direct-collocation-optimal-control-to-trajectory-optimization-for-parameter-identification-of-an-ellipsoid