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In order to interact with human environments, humanoid robots require safe and compliant control which can be achieved through force-controlled joints. In this paper, full body step recovery control for robots with force-controlled joints is achieved by adding model-based feed-forward controls. Push Recovery Model Predictive Control (PR-MPC) is presented as a method for generating full-body step recovery motions after a large disturbance. Results are presented from experiments on the Sarcos Primus humanoid robot that uses hydraulic actuators instrumented with force feedback control.