This video shows the latest results in the whole-body locomotion control of the humanoid robot iCub achieved by the Dynamic Interaction Control line at Istituto Italiano di Tecnologia in Genova (Italy). ⁠ ⁠ In particular, the iCub now keeps the balance while walking and receiving pushes from an external user. The implemented control algorithms also ensure the robot to remain compliant during locomotion and human-robot interaction, a fundamental property to lower the possibility to harm humans th