# Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

> Research article (Journal of Mechanisms and Robotics, 2021) · cited 13× · AI/ML

**Wikidata**: [openalex:W3124040578](https://www.wikidata.org/wiki/openalex:W3124040578)  
**Source**: https://4ort.xyz/entity/flexible-joint-humanoid-balancing-augmentation-via-full-state-feedback-variable-impedance-control