Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios

Bernd Henze, Máximo A. Roa, Christian Ott. Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios. I. J. Robotic Res., 35(12):1522-1543, 2016. [doi]

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