# Optimal gait planning for humanoids with 3D structure walking on slippery surfaces

> Research article (Robotica, 2015) · cited 32× · AI/ML

**Wikidata**: [openalex:W2220118182](https://www.wikidata.org/wiki/openalex:W2220118182)  
**Source**: https://4ort.xyz/entity/optimal-gait-planning-for-humanoids-with-3d-structure-walking-on-slippery-surfaces