# Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 12× · AI/ML

**Wikidata**: [openalex:W4210612168](https://www.wikidata.org/wiki/openalex:W4210612168)  
**Source**: https://4ort.xyz/entity/passive-inverse-dynamics-control-using-a-global-energy-tank-for-torque-controlled-humanoid-robots-in-multi-contact