@Article{hamze:ral:2024,
  author    = {Hamze, Marwan and Benallegue, Mehdi and Cisneros, Rafael and Benallegue, Abdelaziz},
  title     = {Compliant Contacts Balance-Force Controller for Legged Robots},
  journal   = {IEEE Robotics and Automation Letters},
  year      = {2024},
  volume    = {9},
  number    = {11},
  pages     = {9231--9238},
  month     = {November},
  doi       = {10.1109/LRA.2024.3433750},
  url       = {https://ieeexplore.ieee.org/abstract/document/10609486},
  publisher = {IEEE-INST Electrical Electronics Engineers Inc},
  address   = {445 Hoes Lane, Piscataway, NJ 08855-4141, USA}
}