@article{zimpedanceimpedanceawarezmpmodelingandco,
  title = {ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots},
  author = {Giovanni B. Dessy and Lorenzo Amatucci and Victor Barasuol and Claudio Semini},
  year = {2026},
  eprint = {2606.18883},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.18883},
}