@article {4299,
	title = {Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	year = {2021},
	pages = {4488{\textendash}4495},
	author = {Xin, Guiyang and Xin, Songyan and Cebe, Oguzhan and Pollayil, Mathew Jose and Angelini, Franco and Garabini, Manolo and Vijayakumar, Sethu and Mistry, Michael}
}
