# Humanoid Control Under Interchangeable Fixed and Sliding Unilateral\n Contacts

> Research article (arXiv (Cornell University), 2021) · cited 13× · AI/ML

**Wikidata**: [openalex:W3139190071](https://www.wikidata.org/wiki/openalex:W3139190071)  
**Source**: https://4ort.xyz/entity/humanoid-control-under-interchangeable-fixed-and-sliding-unilateral-n-contacts