# Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion

> Research article (Robotics: Science and Systems XIII, 2017) · cited 35× · AI/ML

**Wikidata**: [openalex:W2617744508](https://www.wikidata.org/wiki/openalex:W2617744508)  
**Source**: https://4ort.xyz/entity/hybrid-direct-collocation-and-control-in-the-constraint-consistent-subspace-for-dynamic-legged-robot-locomotion