# Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots

> Research article (IEEE Transactions on Robotics, 2023) · cited 41× · AI/ML

**Wikidata**: [openalex:W4386766454](https://www.wikidata.org/wiki/openalex:W4386766454)  
**Source**: https://4ort.xyz/entity/hybrid-ilqr-model-predictive-control-for-contact-implicit-stabilization-on-legged-robots