# Whole-body hierarchical motion and force control for humanoid robots

> Research article (Autonomous Robots, 2015) · cited 24× · AI/ML

**Wikidata**: [openalex:W1763398942](https://www.wikidata.org/wiki/openalex:W1763398942)  
**Source**: https://4ort.xyz/entity/whole-body-hierarchical-motion-and-force-control-for-humanoid-robots