# COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2

> Research article (IEEE Robotics and Automation Letters, 2017) · cited 29× · AI/ML

**Wikidata**: [openalex:W2582284816](https://www.wikidata.org/wiki/openalex:W2582284816)  
**Source**: https://4ort.xyz/entity/cocomopl-a-novel-approach-for-humanoid-walking-generation-combining-optimal-control-movement-primitives-and-learning-and