The following publications are possibly variants of this publication:
- Whole-Body Control for Multi-Contact Balancing of Humanoid Robots - Design and ExperimentsBernd Henze. Volume 143 of Springer Tracts in Advanced Robotics, Springer, 2022. [doi]
- Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive ControlBernd Henze, Christian Ott, Máximo A. Roa. iros 2014: 3253-3258 [doi]
- Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenariosBernd Henze, Máximo A. Roa, Christian Ott. ijrr, 35(12):1522-1543, 2016. [doi]
- Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid RobotsAlexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott. iros 2018: 1233-1240 [doi]