# Contact Force/Torque Control Based on Viscoelastic Model for Stable Bipedal Walking on Indefinite Uneven Terrain

> Research article (IEEE Transactions on Automation Science and Engineering, 2019) · cited 41× · AI/ML

**Wikidata**: [openalex:W2924430754](https://www.wikidata.org/wiki/openalex:W2924430754)  
**Source**: https://4ort.xyz/entity/contact-force-torque-control-based-on-viscoelastic-model-for-stable-bipedal-walking-on-indefinite-uneven-terrain