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-[walkman control](https://github.com/robotology-legacy/WBI-Toolbox-controllers/tree/master/controllers/torqueBalancing-walkman) and [walkman control-matlab](https://github.com/robotology/mex-wholebodymodel/tree/master/controllers/torqueBalancingWalkman)
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-[joint-space control and centroidal transformation](https://github.com/robotology/mex-wholebodymodel/tree/master/controllers/torqueBalancingJointControl)
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-[stand-up control 4 contacts](https://github.com/robotology-legacy/WBI-Toolbox-controllers/tree/master/controllers/torqueBalancingStandup_4Contacts)
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