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 that s