# Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot

> Research article (2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022) · cited 48× · AI/ML

**Wikidata**: [openalex:W4286423847](https://www.wikidata.org/wiki/openalex:W4286423847)  
**Source**: https://4ort.xyz/entity/whole-body-model-predictive-control-for-biped-locomotion-on-a-torque-controlled-humanoid-robot