# Improved Computation of the Humanoid Centroidal Dynamics and Application for Whole-Body Control

> Research article (International Journal of Humanoid Robotics, 2015) · cited 103× · AI/ML

**Wikidata**: [openalex:W1661970104](https://www.wikidata.org/wiki/openalex:W1661970104)  
**Source**: https://4ort.xyz/entity/improved-computation-of-the-humanoid-centroidal-dynamics-and-application-for-whole-body-control