# A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization

> Research article (IEEE Access, 2021) · cited 19× · AI/ML

**Wikidata**: [openalex:W3134256416](https://www.wikidata.org/wiki/openalex:W3134256416)  
**Source**: https://4ort.xyz/entity/a-whole-body-control-framework-based-on-the-operational-space-formulation-under-inequality-constraints-via-task-oriented