# Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion

> Research article (2021 60th IEEE Conference on Decision and Control (CDC), 2021) · cited 11× · AI/ML

**Wikidata**: [openalex:W3214763774](https://www.wikidata.org/wiki/openalex:W3214763774)  
**Source**: https://4ort.xyz/entity/optimization-free-ground-contact-force-constraint-satisfaction-in-quadrupedal-locomotion