# Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 50× · AI/ML

**Wikidata**: [openalex:W4285028015](https://www.wikidata.org/wiki/openalex:W4285028015)  
**Source**: https://4ort.xyz/entity/online-non-linear-centroidal-mpc-for-humanoid-robot-locomotion-with-step-adjustment