# Trot Gait Stability Control of Small Quadruped Robot Based on MPC and ZMP Methods

> Research article (Processes, 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4316037880](https://www.wikidata.org/wiki/openalex:W4316037880)  
**Source**: https://4ort.xyz/entity/trot-gait-stability-control-of-small-quadruped-robot-based-on-mpc-and-zmp-methods