# iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts

> Research article (Frontiers in Robotics and AI, 2015) · cited 105× · AI/ML

**Wikidata**: [openalex:W1963573260](https://www.wikidata.org/wiki/openalex:W1963573260)  
**Source**: https://4ort.xyz/entity/icub-whole-body-control-through-force-regulation-on-rigid-non-coplanar-contacts