# Not Only Rewards but Also Constraints: Applications on Legged Robot Locomotion

> Research article (IEEE Transactions on Robotics, 2024) · cited 58× · AI/ML

**Wikidata**: [openalex:W4396910086](https://www.wikidata.org/wiki/openalex:W4396910086)  
**Source**: https://4ort.xyz/entity/not-only-rewards-but-also-constraints-applications-on-legged-robot-locomotion