# Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 19× · AI/ML

**Wikidata**: [openalex:W3176520080](https://www.wikidata.org/wiki/openalex:W3176520080)  
**Source**: https://4ort.xyz/entity/fast-online-planning-for-bipedal-locomotion-via-centroidal-model-predictive-gait-synthesis