Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method. - Adarsh Salagame; Maria Gianello; Chenghao Wang 011; Kaushik Venkatesh Krishnamurthy; Shreyansh Pitroda; Rohit Rajput; Eric Sihite; Miriam Leeser; Alireza Ramezani (ACC, 2024)