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This paper works with the concept of Divergent Component of Motion (DCM), also called '(instantaneous) Capture Point'. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double support. Thus, the resulting DCM trajectories are well suited for real-world robots and allow for increased step length and step height. Thedoi:10.1109/iros.2014.6943128 dblp:conf/iros/EnglsbergerKBPOA14 fatcat:l3gvmkantfgcrmubqhyoug3nji