# Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion

> Research article (IEEE Transactions on Robotics, 2022) · cited 26× · AI/ML

**Wikidata**: [openalex:W4284968714](https://www.wikidata.org/wiki/openalex:W4284968714)  
**Source**: https://4ort.xyz/entity/dynamic-complementarity-conditions-and-whole-body-trajectory-optimization-for-humanoid-robot-locomotion