# Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model

> Research article (The International Journal of Robotics Research, 2017) · cited 39× · AI/ML

**Wikidata**: [openalex:W2748992663](https://www.wikidata.org/wiki/openalex:W2748992663)  
**Source**: https://4ort.xyz/entity/robust-optimal-planning-and-control-of-non-periodic-bipedal-locomotion-with-a-centroidal-momentum-model