# A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots

> Research article (International Journal of Humanoid Robotics, 2019) · cited 20× · AI/ML

**Wikidata**: [openalex:W2992024580](https://www.wikidata.org/wiki/openalex:W2992024580)  
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