# Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs

> Research article (IEEE Access, 2015) · cited 170× · AI/ML

**Wikidata**: [openalex:W1986164962](https://www.wikidata.org/wiki/openalex:W1986164962)  
**Source**: https://4ort.xyz/entity/torque-saturation-in-bipedal-robotic-walking-through-control-lyapunov-function-based-quadratic-programs