# Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control

> Research article (2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019) · cited 10× · AI/ML

**Wikidata**: [openalex:W3003308218](https://www.wikidata.org/wiki/openalex:W3003308218)  
**Source**: https://4ort.xyz/entity/motion-decoupling-and-composition-via-reduced-order-model-optimization-for-dynamic-humanoid-walking-with-clf-qp-based-ac