# Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 30× · AI/ML

**Wikidata**: [openalex:W4285176008](https://www.wikidata.org/wiki/openalex:W4285176008)  
**Source**: https://4ort.xyz/entity/centroidal-trajectory-generation-and-stabilization-based-on-preview-control-for-humanoid-multi-contact-motion