# Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 16× · AI/ML

**Wikidata**: [openalex:W3133459837](https://www.wikidata.org/wiki/openalex:W3133459837)  
**Source**: https://4ort.xyz/entity/feasibility-driven-step-timing-adaptation-for-robust-mpc-based-gait-generation-in-humanoids