# Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 26× · AI/ML

**Wikidata**: [openalex:W4389665904](https://www.wikidata.org/wiki/openalex:W4389665904)  
**Source**: https://4ort.xyz/entity/walking-in-narrow-spaces-safety-critical-locomotion-control-for-quadrupedal-robots-with-duality-based-optimization