# Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots

> Research article (Robotics, 2023) · cited 10× · AI/ML

**Wikidata**: [openalex:W4313584459](https://www.wikidata.org/wiki/openalex:W4313584459)  
**Source**: https://4ort.xyz/entity/optimization-based-reference-generator-for-nonlinear-model-predictive-control-of-legged-robots