A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. - Dominic Lakatos; Yuri Federigi; Thomas Gumpert; Bernd Henze; Milan Hermann; Florian Loeffl; Florian Schmidt 001; Daniel Seidel; Alin Albu-Schäffer (ICRA, 2019)