An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots

Bernd Henze, Alexander Dietrich, Christian Ott. An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. IEEE Robotics and Automation Letters, 1(2):700-707, 2016. [doi]

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