# Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints

> Research article (2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022) · cited 42× · AI/ML

**Wikidata**: [openalex:W4312405101](https://www.wikidata.org/wiki/openalex:W4312405101)  
**Source**: https://4ort.xyz/entity/terrain-adaptive-alip-based-bipedal-locomotion-controller-via-model-predictive-control-and-virtual-constraints