# Global planning of whole-body manipulation by humanoid robot based on transition graph of object motion and contact switching

> Research article (Advanced Robotics, 2016) · cited 19× · AI/ML

**Wikidata**: [openalex:W2564709524](https://www.wikidata.org/wiki/openalex:W2564709524)  
**Source**: https://4ort.xyz/entity/global-planning-of-whole-body-manipulation-by-humanoid-robot-based-on-transition-graph-of-object-motion-and-contact-swit