Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control

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Authors: George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer

Journal title: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)

Journal publisher: IEEE

Published year: 2019

DOI identifier: 10.1109/humanoids43949.2019.9035053