# A Whole-Body Model Predictive Control Scheme Including External Contact Forces and CoM Height Variations

> Research article (2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018) · cited 12× · AI/ML

**Wikidata**: [openalex:W2896324166](https://www.wikidata.org/wiki/openalex:W2896324166)  
**Source**: https://4ort.xyz/entity/a-whole-body-model-predictive-control-scheme-including-external-contact-forces-and-com-height-variations