# Constraint-consistent task-oriented whole-body robot formulation: Task, posture, constraints, multiple contacts, and balance

> Research article (The International Journal of Robotics Research, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4300002690](https://www.wikidata.org/wiki/openalex:W4300002690)  
**Source**: https://4ort.xyz/entity/constraint-consistent-task-oriented-whole-body-robot-formulation-task-posture-constraints-multiple-contacts-and-balance