Fast and saturating attitude control for a quadrotor helicopter. - Oliver Fritsch; Bernd Henze; Boris Lohmann (ECC, 2013)

Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing. - Christian Ott 001; Bernd Henze; Dongheui Lee (IROS, 2013)

Fast and Saturating Thrust Direction Control for a Quadrotor Helicopter. - Oliver Fritsch; Bernd Henze; Boris Lohmann (Autom., 2013)

Overview of the torque-controlled humanoid robot TORO. - Johannes Englsberger; Alexander Werner; Christian Ott 001; Bernd Henze; Máximo A. Roa; Gianluca Garofalo; Robert Burger; Alexander Beyer; Oliver Eiberger; Korbinian Schmid; Alin Albu-Schäffer (Humanoids, 2014)

Control applications of TORO - A Torque controlled humanoid robot. - Bernd Henze; Alexander Werner; Máximo A. Roa; Gianluca Garofalo; Johannes Englsberger; Christian Ott 001 (Humanoids, 2014)

Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control. - Bernd Henze; Christian Ott 001; Máximo A. Roa (IROS, 2014)

Multi-contact planning and control for a torque-controlled humanoid robot. - Alexander Werner; Bernd Henze; Diego A. Rodriguez; Jonathan Gabaret; Oliver Porges; Máximo A. Roa (IROS, 2016)

Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios. - Bernd Henze; Máximo A. Roa; Christian Ott 001 (Int. J. Robotics Res., 2016)

An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. - Bernd Henze; Alexander Dietrich; Christian Ott 001 (IEEE Robotics Autom. Lett., 2016)

Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots. - Christian Ott 001; Bernd Henze; Georg Hettich; Tim Niklas Seyde; Máximo A. Roa; Vittorio Lippi; Thomas Mergner (IEEE Robotics Autom. Mag., 2016)

Optimal and robust walking using intrinsic properties of a series-elastic robot. - Alexander Werner; Bernd Henze; Florian Loeffl; Sigrid Leyendecker; Christian Ott 001 (Humanoids, 2017)

Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion. - George Mesesan; Johannes Englsberger; Bernd Henze; Christian Ott 001 (ICRA, 2017)

Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts. - Bernd Henze; Alexander Dietrich; Máximo A. Roa; Christian Ott 001 (IROS, 2017)

Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control. - Ashok M. Sundaram; Bernd Henze; Oliver Porges; Zoltan-Csaba Marton; Máximo A. Roa (Humanoids, 2018)

Humanoid Teleoperation Using Task-Relevant Haptic Feedback. - Firas Abi-Farraj; Bernd Henze; Alexander Werner; Michael Panzirsch; Christian Ott 001; Máximo A. Roa (IROS, 2018)

Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots. - Alexander Werner; Bernd Henze; Manuel Keppler; Florian Loeffl; Sigrid Leyendecker; Christian Ott 001 (IROS, 2018)

Passivity Analysis and Control of Humanoid Robots on Movable Ground. - Bernd Henze; Ribin Balachandran; Máximo Alejandro Roa-Garzón; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2018)

Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots. - Juan Miguel García-Haro; Bernd Henze; George Mesesan; Santiago Martínez de la Casa Díaz; Christian Ott 001 (Humanoids, 2019)

Experimental Evaluation and Modeling of Passive Falls in Humanoid Robots. - Nicola Olivieri; Bernd Henze; Francesco Braghin; Máximo A. Roa (Humanoids, 2019)

Optimal Trajectory for Active Safe Falls in Humanoid Robots. - Luca Rossini; Bernd Henze; Francesco Braghin; Máximo A. Roa (Humanoids, 2019)

Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees. - Bernd Henze; Máximo A. Roa; Alexander Werner; Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2019)

A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. - Dominic Lakatos; Yuri Federigi; Thomas Gumpert; Bernd Henze; Milan Hermann; Florian Loeffl; Florian Schmidt 001; Daniel Seidel; Alin Albu-Schäffer (ICRA, 2019)

Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks. - Firas Abi-Farraj; Bernd Henze; Christian Ott 001; Paolo Robuffo Giordano; Máximo A. Roa (IEEE Robotics Autom. Lett., 2019)

Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. - Abderrahmane Kheddar; Máximo A. Roa; Pierre-Brice Wieber; François Chaumette; Fabien Spindler; Giuseppe Oriolo; Leonardo Lanari; Adrien Escande; Kevin Chappellet; Fumio Kanehiro; Patrice Rabaté; Stéphane Caron; et al. (IEEE Robotics Autom. Mag., 2019)

Whole-Body Control for Multi-Contact Balancing of Humanoid Robots - Design and Experiments - Bernd Henze (Springer, 2022)