# Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 44× · AI/ML

**Wikidata**: [openalex:W2999253226](https://www.wikidata.org/wiki/openalex:W2999253226)  
**Source**: https://4ort.xyz/entity/multi-contact-heavy-object-pushing-with-a-centaur-type-humanoid-robot-planning-and-control-for-a-real-demonstrator