# Whole-Body Motion Tracking for a Quadruped-on-Wheel Robot via a Compact-Form Controller With Improved Prioritized Optimization

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 24× · AI/ML

**Wikidata**: [openalex:W2998304595](https://www.wikidata.org/wiki/openalex:W2998304595)  
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