Simple and low-cost compliant leg-foot system. - Friedrich Meyer 001; Alexander Spröwitz; Max Lungarella; Luc Berthouze (IROS, 2004)

Passive compliance for a RC servo-controlled bouncing robot. - Friedrich Meyer 001; Alexander Spröwitz; Luc Berthouze (Adv. Robotics, 2006)

An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots. - Rico Moeckel; Alexander Spröwitz; Jérôme Maye; Auke Jan Ijspeert (IROS, 2007)

An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching. - Alexander Spröwitz; Masoud Asadpour; Yvan Bourquin; Auke Jan Ijspeert (ICRA, 2008)

Graph signature for self-reconfiguration planning. - Masoud Asadpour; Alexander Spröwitz; Aude Billard; Pierre Dillenbourg; Auke Jan Ijspeert (IROS, 2008)

Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization. - Alexander Spröwitz; Rico Moeckel; Jérôme Maye; Auke Jan Ijspeert (Int. J. Robotics Res., 2008)

Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture. - Alexander Spröwitz; Aude Billard; Pierre Dillenbourg; Auke Jan Ijspeert (ICRA, 2009)

Graph signature for self-reconfiguration planning of modules with symmetry. - Masoud Asadpour; Mohammad Hassan Zokaei Ashtiani; Alexander Spröwitz; Auke Jan Ijspeert (IROS, 2009)

Automatic gait generation in modular robots: "to oscillate or to rotate; that is the question". - Soha Pouya; Jesse van den Kieboom; Alexander Spröwitz; Auke Jan Ijspeert (IROS, 2010)

Roombots - Towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules. - Alexander Spröwitz; Philippe Laprade; Stéphane Bonardi; Mikaël Mayer; Rico Moeckel; Pierre-André Mudry; Auke Jan Ijspeert (IROS, 2010)

Distributed Online Learning of Central Pattern Generators in Modular Robots. - David Johan Christensen; Alexander Spröwitz; Auke Jan Ijspeert (SAB, 2010)

Roombots: Reconfigurable Robots for Adaptive Furniture. - Alexander Spröwitz; Soha Pouya; Stéphane Bonardi; Jesse van den Kieboom; Rico Möckel; Aude Billard; Pierre Dillenbourg; Auke Jan Ijspeert (IEEE Comput. Intell. Mag., 2010)

Development of a minimalistic pneumatic quadruped robot for fast locomotion. - Kenichi Narioka; Andre Rosendo; Alexander Sproewitz; Koh Hosoda (ROBIO, 2012)

Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots. - Stéphane Bonardi; Rico Moeckel; Alexander Sproewitz; Massimo Vespignani; Auke Jan Ijspeert (ROBOTIK, 2012)

Central Pattern Generators augmented with virtual model control for quadruped rough terrain locomotion. - Mostafa Ajallooeian; Soha Pouya; Alexander Sproewitz; Auke Jan Ijspeert (ICRA, 2013)

Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot. - Mahdi Khoramshahi; Alexander Spröwitz; Alexandre Tuleu; Majid Nili Ahmadabadi; Auke Jan Ijspeert (ICRA, 2013)

Modular control of limit cycle locomotion over unperceived rough terrain. - Mostafa Ajallooeian; Sébastien Gay; Alexandre Tuleu; Alexander Spröwitz; Auke Jan Ijspeert (IROS, 2013)

Gait optimization for roombots modular robots - Matching simulation and reality. - Rico Moeckel; Yura N. Perov; Anh The Nguyen; Massimo Vespignani; Stéphane Bonardi; Soha Pouya; Alexander Sproewitz; Jesse van den Kieboom; Frédéric Wilhelm; Auke Jan Ijspeert (IROS, 2013)

Motor Control Adaptation to Changes in Robot Body Dynamics for a Complaint Quadruped Robot. - Soha Pouya; Peter Eckert; Alexander Sproewitz; Rico Moeckel; Auke Jan Ijspeert (Living Machines, 2013)

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot. - Federico L. Moro; Alexander Spröwitz; Alexandre Tuleu; Massimo Vespignani; Nikos G. Tsagarakis; Auke Jan Ijspeert; Darwin G. Caldwell (Biol. Cybern., 2013)

Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot. - Alexander Spröwitz; Alexandre Tuleu; Massimo Vespignani; Mostafa Ajallooeian; Emilie Badri; Auke Jan Ijspeert (Int. J. Robotics Res., 2013)

Automatic generation of reduced CPG control networks for locomotion of arbitrary modular robot structures. - Stéphane Bonardi; Massimo Vespignani; Rico Moeckel; Jesse van den Kieboom; Soha Pouya; Alexander Sproewitz; Auke Jan Ijspeert (Robotics: Science and Systems, 2014)

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs. - Alexander Spröwitz; Mostafa Ajallooeian; Alexandre Tuleu; Auke Jan Ijspeert (Frontiers Comput. Neurosci., 2014)

Roombots: A hardware perspective on 3D self-reconfiguration and locomotion with a homogeneous modular robot. - Alexander Spröwitz; Rico Moeckel; Massimo Vespignani; Stéphane Bonardi; Auke Jan Ijspeert (Robotics Auton. Syst., 2014)

Comparing the effect of different spine and leg designs for a small bounding quadruped robot. - Peter Eckert; Alexander Spröwitz; Hartmut Witte; Auke Jan Ijspeert (ICRA, 2015)

Exciting Engineered Passive Dynamics in a Bipedal Robot. - Daniel Renjewski; Alexander Spröwitz; Andrew Peekema; Mikhail S. Jones; Jonathan W. Hurst (IEEE Trans. Robotics, 2015)

ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot. - Christian Hubicki; Jesse Grimes; Mikhail S. Jones; Daniel Renjewski; Alexander Spröwitz; Andy Abate; Jonathan W. Hurst (Int. J. Robotics Res., 2016)

Scalable pneumatic and tendon driven robotic joint inspired by jumping spiders. - Alexander Spröwitz; Chantal Gottler; Ayush Sinha; Corentin Caer; Mehmet Ugur Ooztekin; Kirstin Petersen; Metin Sitti (ICRA, 2017)

Spinal joint compliance and actuation in a simulated bounding quadruped robot. - Soha Pouya; Mohammad Khodabakhsh; Alexander Spröwitz; Auke Jan Ijspeert (Auton. Robots, 2017)

Shaping in Practice: Training Wheels to Learn Fast Hopping Directly in Hardware. - Steve Heim; Felix Ruppert; Alborz A. Sarvestani; Alexander Spröwitz (ICRA, 2018)

Learning from outside the viability kernel: Why we should build robots that can fall with grace. - Steve Heim; Alexander Spröwitz (SIMPAR, 2018)

Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs. - Alexander Spröwitz; Alexandre Tuleu; Mostafa Ajaoolleian; Massimo Vespignani; Rico Moeckel; Peter Eckert; Michiel D'Haene; Jonas Degrave; Arne Nordmann; Benjamin Schrauwen; Jochen J. Steil; Auke Jan Ijspeert (CoRR, 2018)

Beyond Basins of Attraction: Evaluating Robustness of Natural Dynamics. - Steve Heim; Alexander Spröwitz (CoRR, 2018)

Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs. - Alexander Spröwitz; Alexandre Tuleu; Mostafa Ajallooeian; Massimo Vespignani; Rico Möckel; Peter Eckert; Michiel D'Haene; Jonas Degrave; Arne Nordmann; Benjamin Schrauwen; Jochen J. Steil; Auke Jan Ijspeert (Frontiers Robotics AI, 2018)

A Learnable Safety Measure. - Steve Heim; Alexander von Rohr; Sebastian Trimpe; Alexander Badri-Spröwitz (CoRL, 2019)

Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots. - Özge Drama; Alexander Badri-Spröwitz (Humanoids, 2019)

Trunk Pitch Oscillations to Improve Energetics in Bipedal Running Birds and Robots. - Özge Drama; Alexander Badri-Spröwitz (CoRR, 2019)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - Felix Grimminger; Avadesh Meduri; Majid Khadiv; Julian Viereck; Manuel Wüthrich; Maximilien Naveau; Vincent Berenz; Steve Heim; Felix Widmaier; Jonathan Fiene; Alexander Badri-Spröwitz; Ludovic Righetti (CoRR, 2019)

Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg. - Felix Ruppert; Alexander Badri-Spröwitz (Frontiers Neurorobotics, 2019)

Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics. - Steve Heim; Alexander Spröwitz (IEEE Trans. Robotics, 2019)

FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain. - Felix Ruppert; Alexander Badri-Spröwitz (ICRA, 2020)

Postural Stability in Human Running with Step-down Perturbations: An Experimental and Numerical Study. - Özge Drama; Johanna Vielemeyer; Alexander Badri-Spröwitz; Roy Muüller (CoRR, 2020)

A Control Method to Compensate Ground Level Changes for Running Bipedal Robots. - Özge Drama; Alexander Badri-Spröwitz (CoRR, 2020)

Effective Viscous Damping Enables Morphological Computation in Legged Locomotion. - An Mo; Fabio Izzi; Daniel F. B. Haeufle; Alexander Badri-Spröwitz (Frontiers Robotics AI, 2020)

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. - Felix Grimminger; Avadesh Meduri; Majid Khadiv; Julian Viereck; Manuel Wüthrich; Maximilien Naveau; Vincent Berenz; Steve Heim; Felix Widmaier; Thomas Flayols; Jonathan Fiene; Alexander Badri-Spröwitz; et al. (IEEE Robotics Autom. Lett., 2020)

Hybrid leg compliance enables robots to operate with sensorimotor delays and low control update frequencies. - Milad Shafiee-Ashtiani; Alborz Aghamaleki Sarvestani; Alexander Badri-Spröwitz (CoRR, 2021)

Hybrid Parallel Compliance Allows Robots to Operate With Sensorimotor Delays and Low Control Frequencies. - Milad Shafiee-Ashtiani; Alborz Aghamaleki Sarvestani; Alexander Badri-Spröwitz (Frontiers Robotics AI, 2021)

Power to the Springs: Passive Elements are Sufficient to Drive Push-Off in Human Walking. - Alexandra Buchmann; Bernadett Kiss; Alexander Badri-Spröwitz; Daniel Renjewski (CLAWAR, 2022)

Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping. - Marco Bolignari; An Mo; Marco Fontana; Alexander Badri-Spröwitz (IROS, 2022)

Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot. - Bernadett Kiss; Emre Cemal Gonen; An Mo; Alexander Badri-Spröwitz; Alexandra Buchmann; Daniel Renjewski (IROS, 2022)

Investigation on a bipedal robot: Why do humans need both Soleus andGastrocnemius muscles for ankle push-off during walking? - Bernadett Kiss; Emre Cemal Gonen; An Mo; Alexandra Buchmann; Daniel Renjewski; Alexander Badri-Spröwitz (CoRR, 2022)

Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion. - An Mo; Fabio Izzi; Emre Cemal Gönen; Daniel F. B. Haeufle; Alexander Badri-Spröwitz (CoRR, 2022)

Virtual pivot point in human walking: always experimentally observed but simulations suggest it may not be necessary. - Lucas Schreff; Daniel F. B. Haeufle; Alexander Badri-Spröwitz; Johanna Vielemeyer; Roy Müller (CoRR, 2022)

Learning plastic matching of robot dynamics in closed-loop central pattern generators. - Felix Ruppert; Alexander Badri-Spröwitz (Nat. Mach. Intell., 2022)

BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching. - Alexander Badri-Spröwitz; Alborz Aghamaleki Sarvestani; Metin Sitti; Monica A. Daley (Sci. Robotics, 2022)

Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain. - Abhishek Chatterjee; An Mo; Bernadett Kiss; Emre Cemal Gönen; Alexander Badri-Spröwitz (ICRA, 2023)

An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment. - Alborz Aghamaleki Sarvestani; Felix Ruppert; Alexander Badri-Spröwitz (CoRR, 2023)

Upside down: affordable high-performance motion platform. - Nayan Man Singh Pradhan; Patrick Frank; An Mo; Alexander Badri-Spröwitz (CoRR, 2023)

Bird-inspired tendon coupling improves paddling efficiency by shortening phase transition times. - Jianfeng Lin; Zhao Guo; Alexander Badri-Spröwitz (CoRR, 2024)

Passive knee flexion increases forward impulse of the trailing leg during the step-to-step transition. - Bernadett Kiss; Alexandra Buchmann; Daniel Renjewski; Alexander Badri-Spröwitz (CoRR, 2024)

Special issue on embodied intelligence-understanding animal locomotion and its robotic implementations. - Poramate Manoonpong; Alexander Badri-Spröwitz; Dai Owaki (Adv. Robotics, 2025)