# A convex model of humanoid momentum dynamics for multi-contact motion generation

> Research article (2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016) · cited 81× · AI/ML

**Wikidata**: [openalex:W2567729074](https://www.wikidata.org/wiki/openalex:W2567729074)  
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