# Balancing of humanoid robot using contact force/moment control by task-oriented whole body control framework

> Research article (Autonomous Robots, 2015) · cited 57× · AI/ML

**Wikidata**: [openalex:W2132089714](https://www.wikidata.org/wiki/openalex:W2132089714)  
**Source**: https://4ort.xyz/entity/balancing-of-humanoid-robot-using-contact-force-moment-control-by-task-oriented-whole-body-control-framework