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Lee J, Dallali H, Jin M, Caldwell D, Tsagarakis N.  2016.  Robust and adaptive whole-body controller for humanoids with multiple tasks under uncertain disturbances. Robotics and Automation (ICRA), 2016 IEEE International Conference on. :5683––5689.
Jin M, Lee J, Tsagarakis NG.  2017.  Model-free Robust Adaptive Control of Humanoid Robots with Flexible Joints. IEEE Transactions on Industrial Electronics.