# Multi-contact planning and control for a torque-controlled humanoid robot

> Research article (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016) · cited 20× · AI/ML

**Wikidata**: [openalex:W2563860407](https://www.wikidata.org/wiki/openalex:W2563860407)  
**Source**: https://4ort.xyz/entity/multi-contact-planning-and-control-for-a-torque-controlled-humanoid-robot