# Humanoid Self-Collision Avoidance Using Whole-Body Control with Control Barrier Functions

> Research article (2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022) · cited 33× · AI/ML

**Wikidata**: [openalex:W4313562870](https://www.wikidata.org/wiki/openalex:W4313562870)  
**Source**: https://4ort.xyz/entity/humanoid-self-collision-avoidance-using-whole-body-control-with-control-barrier-functions