# Nonlinear model predictive control for robust bipedal locomotion: exploring angular momentum and CoM height changes

> Research article (Advanced Robotics, 2021) · cited 19× · AI/ML

**Wikidata**: [openalex:W3198442109](https://www.wikidata.org/wiki/openalex:W3198442109)  
**Source**: https://4ort.xyz/entity/nonlinear-model-predictive-control-for-robust-bipedal-locomotion-exploring-angular-momentum-and-com-height-changes