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most citedA Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies

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cs.RO2026

Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions

Kwanwoo Lee, Sanghyuk Park, Gyeongjae Park +2

Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision av…