# Whole-body control with disturbance rejection through a momentum-based observer for quadruped robots☆

> Research article (Mechanism and Machine Theory, 2021) · cited 42× · AI/ML

**Wikidata**: [openalex:W3175913924](https://www.wikidata.org/wiki/openalex:W3175913924)  
**Source**: https://4ort.xyz/entity/whole-body-control-with-disturbance-rejection-through-a-momentum-based-observer-for-quadruped-robots