State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU. - Michael Blösch; Marco Hutter 001; Mark A. Hoepflinger; Stefan Leutenegger; Christian Gehring; C. David Remy; Roland Siegwart (Robotics: Science and Systems, 2012)

Hybrid Operational Space Control for Compliant Legged Systems. - Marco Hutter 001; Mark A. Hoepflinger; Christian Gehring; Michael Blösch; C. David Remy; Roland Siegwart (Robotics: Science and Systems, 2012)

Quadrupedal Robots with Stiff and Compliant Actuation. - C. David Remy; Marco Hutter 001; Mark A. Hoepflinger; Michael Blösch; Christian Gehring; Roland Siegwart (Autom., 2012)

Kinematic batch calibration for legged robots. - Michael Blösch; Marco Hutter 001; Christian Gehring; Mark A. Höpflinger; Roland Siegwart (ICRA, 2013)

Control of dynamic gaits for a quadrupedal robot. - Christian Gehring; Stelian Coros; Marco Hutter 001; Michael Blösch; Mark A. Hoepflinger; Roland Siegwart (ICRA, 2013)

Unsupervised identification and prediction of foothold robustness. - Mark A. Hoepflinger; Marco Hutter 001; Christian Gehring; Michael Blösch; Roland Siegwart (ICRA, 2013)

State estimation for legged robots on unstable and slippery terrain. - Michael Blösch; Christian Gehring; Peter Fankhauser; Marco Hutter 001; Mark A. Hoepflinger; Roland Siegwart (IROS, 2013)

Reinforcement learning of single legged locomotion. - Peter Fankhauser; Marco Hutter 001; Christian Gehring; Michael Blösch; Mark A. Hoepflinger; Roland Siegwart (IROS, 2013)

ROCK∗ - Efficient black-box optimization for policy learning. - Jemin Hwangbo; Christian Gehring; Hannes Sommer; Roland Siegwart; Jonas Buchli (Humanoids, 2014)

Towards automatic discovery of agile gaits for quadrupedal robots. - Christian Gehring; Stelian Coros; Marco Hutter 001; Michael Blösch; Peter Fankhauser; Markus A. Höpflinger; Roland Siegwart (ICRA, 2014)

Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control. - Marco Hutter 001; Christian Gehring; Michael Blösch; Mark A. Höpflinger; Peter Fankhauser; Roland Siegwart (ICRA, 2014)

Fusion of optical flow and inertial measurements for robust egomotion estimation. - Michael Blösch; Sammy Omari; Peter Fankhauser; Hannes Sommer; Christian Gehring; Jemin Hwangbo; Mark A. Hoepflinger; Marco Hutter 001; Roland Siegwart (IROS, 2014)

Quadrupedal locomotion using hierarchical operational space control. - Marco Hutter 001; Hannes Sommer; Christian Gehring; Mark A. Hoepflinger; Michael Blösch; Roland Siegwart (Int. J. Robotics Res., 2014)

Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped. - Marco Hutter 001; Christian Gehring; Mark A. Höpflinger; Michael Blösch; Roland Siegwart (IEEE Trans. Robotics, 2014)

Dynamic trotting on slopes for quadrupedal robots. - Christian Gehring; C. Dario Bellicoso; Stelian Coros; Michael Blösch; Peter Fankhauser; Marco Hutter 001; Roland Siegwart (IROS, 2015)

Direct state-to-action mapping for high DOF robots using ELM. - Jemin Hwangbo; Christian Gehring; Dario Bellicoso; Peter Fankhauser; Roland Siegwart; Marco Hutter 001 (IROS, 2015)

Policy Learning with an Efficient Black-Box Optimization Algorithm. - Jemin Hwangbo; Christian Gehring; Hannes Sommer; Roland Siegwart; Jonas Buchli (Int. J. Humanoid Robotics, 2015)

Perception-less terrain adaptation through whole body control and hierarchical optimization. - C. Dario Bellicoso; Christian Gehring; Jemin Hwangbo; Peter Fankhauser; Marco Hutter 001 (Humanoids, 2016)

Free Gait - An architecture for the versatile control of legged robots. - Peter Fankhauser; C. Dario Bellicoso; Christian Gehring; Renaud Dubé; Abel Gawel; Marco Hutter 001 (Humanoids, 2016)

ANYmal - a highly mobile and dynamic quadrupedal robot. - Marco Hutter 001; Christian Gehring; Dominic Jud; Andreas Lauber; C. Dario Bellicoso; Vassilios Tsounis; Jemin Hwangbo; Karen Bodie; Peter Fankhauser; Michael Bloesch; Remo Diethelm; Samuel Bachmann; et al. (IROS, 2016)

A Primer on the Differential Calculus of 3D Orientations. - Michael Bloesch; Hannes Sommer; Tristan Laidlow; Michael Burri; Gabriel Nützi; Peter Fankhauser; Dario Bellicoso; Christian Gehring; Stefan Leutenegger; Marco Hutter 001; Roland Siegwart (CoRR, 2016)

Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot. - Christian Gehring; Stelian Coros; Marco Hutter 001; Carmine Dario Bellicoso; Huub Heijnen; Remo Diethelm; Michael Bloesch; Peter Fankhauser; Jemin Hwangbo; Mark A. Hoepflinger; Roland Siegwart (IEEE Robotics Autom. Mag., 2016)

Towards a Generic Solution for Inspection of Industrial Sites. - Marco Hutter 001; Remo Diethelm; Samuel Bachmann; Peter Fankhauser; Christian Gehring; Vassilios Tsounis; Andreas Lauber; Fabian Günther; Marko Bjelonic; Linus Isler; Hendrik Kolvenbach; Konrad Meyer; et al. (FSR, 2017)

Quadrupedal locomotion using trajectory optimization and hierarchical whole body control. - Christian Gehring; C. Dario Bellicoso; Peter Fankhauser; Stelian Coros; Marco Hutter 001 (ICRA, 2017)

Dynamic locomotion and whole-body control for quadrupedal robots. - C. Dario Bellicoso; Fabian Jenelten; Peter Fankhauser; Christian Gehring; Jemin Hwangbo; Marco Hutter 001 (IROS, 2017)

ANYmal - toward legged robots for harsh environments. - Marco Hutter 001; Christian Gehring; Andreas Lauber; Fabian Günther; Carmine Dario Bellicoso; Vassilios Tsounis; Peter Fankhauser; Remo Diethelm; Samuel Bachmann; Michael Blösch; Hendrik Kolvenbach; Marko Bjelonic; et al. (Adv. Robotics, 2017)

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots. - C. Dario Bellicoso; Fabian Jenelten; Christian Gehring; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2018)

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. - Michael Neunert; Markus Stäuble; Markus Giftthaler; Carmine Dario Bellicoso; Jan Carius; Christian Gehring; Marco Hutter 001; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

ANYmal in the Field: Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot. - Christian Gehring; Peter Fankhauser; Linus Isler; Remo Diethelm; Samuel Bachmann; M. Potz; L. Gerstenberg; Marco Hutter 001 (FSR, 2019)

Multi-critic Learning for Whole-body End-effector Twist Tracking. - Aravind Elanjimattathil Vijayan; Andrei Cramariuc; Mattia Risiglione; Christian Gehring; Marco Hutter 001 (CoRR, 2025)