# Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion

> Research article (2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018) · cited 12× · AI/ML

**Wikidata**: [openalex:W2914921534](https://www.wikidata.org/wiki/openalex:W2914921534)  
**Source**: https://4ort.xyz/entity/efficient-locomotion-planning-for-a-humanoid-robot-with-whole-body-collision-avoidance-guided-by-footsteps-and-centroida