# Real-Time Constrained Nonlinear Model Predictive Control on SO(3) for Dynamic Legged Locomotion

> Research article (2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020) · cited 48× · AI/ML

**Wikidata**: [openalex:W3130162259](https://www.wikidata.org/wiki/openalex:W3130162259)  
**Source**: https://4ort.xyz/entity/real-time-constrained-nonlinear-model-predictive-control-on-so-3-for-dynamic-legged-locomotion