# Online Running Pattern Generation for Humanoid Robot With Direct Collocation of Reference-Tracking Dynamics

> Research article (IEEE/ASME Transactions on Mechatronics, 2023) · cited 10× · AI/ML

**Wikidata**: [openalex:W4387068261](https://www.wikidata.org/wiki/openalex:W4387068261)  
**Source**: https://4ort.xyz/entity/online-running-pattern-generation-for-humanoid-robot-with-direct-collocation-of-reference-tracking-dynamics