# Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop

> Research article (2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015) · cited 17× · AI/ML

**Wikidata**: [openalex:W2208432965](https://www.wikidata.org/wiki/openalex:W2208432965)  
**Source**: https://4ort.xyz/entity/multi-layered-real-time-controllers-for-humanoid-s-manipulation-and-locomotion-tasks-with-emergency-stop