# A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots

> Research article (2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018) · cited 13× · AI/ML

**Wikidata**: [openalex:W2884460909](https://www.wikidata.org/wiki/openalex:W2884460909)  
**Source**: https://4ort.xyz/entity/a-control-architecture-with-online-predictive-planning-for-position-and-torque-controlled-walking-of-humanoid-robots