This video shows the latest results in the wholebody locomotion control of the humanoid robot iCub achieved by the Dynamic Interaction Control line (https://dic.iit.it/). 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 humanrobot interaction, a fundamental property to lower the possibility to harm humans that share the robot surrounding environment. The algorithms have been published in the proceedings of the 2019 IEEERAS 19th International Conference on Humanoid Robots (Humanoids) https://ieeexplore.ieee.org/document/... and the video shows their validation on the humanoid robot iCub.