# Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots

> Research article (2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016) · cited 15× · AI/ML

**Wikidata**: [openalex:W2530025991](https://www.wikidata.org/wiki/openalex:W2530025991)  
**Source**: https://4ort.xyz/entity/stability-polygons-reshaping-and-morphing-for-smooth-multi-contact-transitions-and-force-control-of-humanoid-robots