# Online Relative Footstep Optimization for Legged Robots Dynamic Walking Using Discrete-Time Model Predictive Control

> Research article (2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019) · cited 36× · AI/ML

**Wikidata**: [openalex:W3003712039](https://www.wikidata.org/wiki/openalex:W3003712039)  
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