Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots. - Alexander W. Winkler; Ioannis Havoutis; Stéphane Bazeille; Jesús Ortiz 001; Michele Focchi; Rüdiger Dillmann; Darwin G. Caldwell; Claudio Semini (ICRA, 2014)

Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. - Alexander W. Winkler; Carlos Mastalli; Ioannis Havoutis; Michele Focchi; Darwin G. Caldwell; Claudio Semini (ICRA, 2015)

On-line and on-board planning and perception for quadrupedal locomotion. - Carlos Mastalli; Ioannis Havoutis; Alexander W. Winkler; Darwin G. Caldwell; Claudio Semini (TePRA, 2015)

Projection based whole body motion planning for legged robots. - Diego Pardo; Michael Neunert; Alexander W. Winkler; Jonas Buchli (CoRR, 2015)

Evaluating Direct Transcription and Nonlinear Optimization Methods for Robot Motion Planning. - Diego Pardo; Lukas Möller; Michael Neunert; Alexander W. Winkler; Jonas Buchli (IEEE Robotics Autom. Lett., 2016)

An efficient optimal planning and control framework for quadrupedal locomotion. - Farbod Farshidian; Michael Neunert; Alexander W. Winkler; Gonzalo Rey; Jonas Buchli (ICRA, 2017)

Online walking motion and foothold optimization for quadruped locomotion. - Alexander W. Winkler; Farbod Farshidian; Michael Neunert; Diego Pardo; Jonas Buchli (ICRA, 2017)

Robust whole-body motion control of legged robots. - Farbod Farshidian; Edo Jelavic; Alexander W. Winkler; Jonas Buchli (IROS, 2017)

Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot locomotion. - Diego Pardo; Michael Neunert; Alexander W. Winkler; Ruben Grandia; Jonas Buchli (Robotics: Science and Systems, 2017)

Optimal and Learning Control for Autonomous Robots. - Jonas Buchli; Farbod Farshidian; Alexander W. Winkler; Timothy Sandy; Markus Giftthaler (CoRR, 2017)

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds. - Michael Neunert; Farbod Farshidian; Alexander W. Winkler; Jonas Buchli (IEEE Robotics Autom. Lett., 2017)

Fast Trajectory Optimization for Legged Robots Using Vertex-Based ZMP Constraints. - Alexander W. Winkler; Farbod Farshidian; Diego Pardo; Michael Neunert; Jonas Buchli (IEEE Robotics Autom. Lett., 2017)

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization. - Alexander W. Winkler; C. Dario Bellicoso; Marco Hutter 001; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Transformer Inertial Poser: Real-time Human Motion Reconstruction from Sparse IMUs with Simultaneous Terrain Generation. - Yifeng Jiang 002; Yuting Ye; Deepak Gopinath; Jungdam Won; Alexander W. Winkler; C. Karen Liu (SIGGRAPH Asia, 2022)

QuestSim: Human Motion Tracking from Sparse Sensors with Simulated Avatars. - Alexander W. Winkler; Jungdam Won; Yuting Ye (SIGGRAPH Asia, 2022)

Transformer Inertial Poser: Attention-based Real-time Human Motion Reconstruction from Sparse IMUs. - Yifeng Jiang 002; Yuting Ye; Deepak Gopinath; Jungdam Won; Alexander W. Winkler; C. Karen Liu (CoRR, 2022)

QuestEnvSim: Environment-Aware Simulated Motion Tracking from Sparse Sensors. - Sunmin Lee; Sebastian Starke; Yuting Ye; Jungdam Won; Alexander W. Winkler (SIGGRAPH (Conference Paper Track), 2023)

Physics-based Motion Retargeting from Sparse Inputs. - Daniele Reda; Jungdam Won; Yuting Ye; Michiel van de Panne; Alexander W. Winkler (Proc. ACM Comput. Graph. Interact. Tech., 2023)