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A novel self-collision avoidance algorithm employing boundary spheres and Control Barrier Functions (CBFs) ensures operational safety. A major contribution is the development of a control barrier function-based Quadratic Programming (QP)-based control framework integrating Proportional-Derivative (PD) control for stable walking. The paper simplifies trajectory design by categorizing motion tasks and enhances dynamic stability using a new angular momentum rate change compensation method with force-torque sensor feedback. These improvements mark a substantial leap in humanoid robotics, enhancing efficiency, functionality, and adaptability, and paving the way for their broader integration into human society. <\/jats:p>","DOI":"10.1142\/s0219843625400018","type":"journal-article","created":{"date-parts":[[2025,3,20]],"date-time":"2025-03-20T04:08:22Z","timestamp":1742443702000},"source":"Crossref","is-referenced-by-count":0,"title":["Control Barrier Function-based Whole-body Control Framework for Humanoid Robots"],"prefix":"10.1142","volume":"22","author":[{"given":"Pin-Tsun","family":"Chen","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University, No. 1, Section 4, Roosevelt Road, Taipei 10617, Taiwan R.O.C."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4910-8031","authenticated-orcid":false,"given":"Han-Pang","family":"Huang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University, No. 1, Section 4, Roosevelt Road, Taipei 10617, Taiwan R.O.C."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-4902-7166","authenticated-orcid":false,"given":"Jia-Hsun","family":"Lo","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University, No. 1, Section 4, Roosevelt Road, Taipei 10617, Taiwan R.O.C."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shun-Kai","family":"Chang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University, No. 1, Section 4, Roosevelt Road, Taipei 10617, Taiwan R.O.C."}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2025,5,6]]},"reference":[{"key":"S0219843625400018BIB001","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2016.1250674"},{"key":"S0219843625400018BIB002","doi-asserted-by":"publisher","DOI":"10.1145\/3588325"},{"key":"S0219843625400018BIB003","doi-asserted-by":"publisher","DOI":"10.1145\/267658.267664"},{"key":"S0219843625400018BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/ROSE.2013.6698413"},{"key":"S0219843625400018BIB005","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-015-0296-9"},{"key":"S0219843625400018BIB006","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2016.7866528"},{"key":"S0219843625400018BIB007","doi-asserted-by":"publisher","DOI":"10.1504\/IJDH.2016.077419"},{"key":"S0219843625400018BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/WCICA.2012.6359088"},{"key":"S0219843625400018BIB009","doi-asserted-by":"publisher","DOI":"10.1109\/CCDC.2019.8832965"},{"key":"S0219843625400018BIB010","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"S0219843625400018BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2359418"},{"key":"S0219843625400018BIB012","doi-asserted-by":"publisher","DOI":"10.1163\/156855303321165097"},{"key":"S0219843625400018BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2012.2221111"},{"key":"S0219843625400018BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids57100.2023.10375142"},{"key":"S0219843625400018BIB015","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2750628"},{"key":"S0219843625400018BIB016","doi-asserted-by":"publisher","DOI":"10.1109\/ISIE.2016.7744919"},{"key":"S0219843625400018BIB017","first-page":"551","volume":"24","author":"Nagumo M.","year":"1942","journal-title":"Proc. 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