# Heel-strike and toe-off walking of humanoid robot using quadratic programming considering the foot contact states

> Research article (Robotics and Autonomous Systems, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4323263309](https://www.wikidata.org/wiki/openalex:W4323263309)  
**Source**: https://4ort.xyz/entity/heel-strike-and-toe-off-walking-of-humanoid-robot-using-quadratic-programming-considering-the-foot-contact-states