# Real-time nonlinear model predictive footstep optimization for biped robots

> Research article (2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015) · cited 16× · AI/ML

**Wikidata**: [openalex:W2210442267](https://www.wikidata.org/wiki/openalex:W2210442267)  
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