@article{wu2021unified,
  title={Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation},
  author={Wu, Yuqiang and Lamon, Edoardo and Zhao, Fei and Kim, Wansoo and Ajoudani, Arash},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={2},
  pages={3505--3512},
  year={2021},
  doi = {10.1109/LRA.2021.3062316},
  publisher={IEEE}
}

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