Rui, Z., Qingjun, Y., Chen, C., Chunli, J., Congfei, L. and Yuxuan, W. (2021) “Force-based Active Compliance Control of Hydraulic Quadruped Robot”, International Journal of Fluid Power, 22(2), pp. 147–172. doi: 10.13052/ijfp1439-9776.2221.