Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation. - Christoph Stoeffler; Shivesh Kumar; Heiner Peters; Olivier Brüls; Andreas Müller 002; Frank Kirchner (Humanoids, 2018)

A Comparative Study on 2-DOF Variable Stiffness Mechanisms. - Christoph Stoeffler; Shivesh Kumar; Andreas Müller 002 (ARK, 2020)

Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism. - Christoph Stoeffler; Adriano del Rio Fernandez; Heiner Peters; Moritz Schilling; Shivesh Kumar (ARK, 2022)

A Combined Rigid-Soft Thruster Based on Jetting Propulsion. - Christoph Stoeffler; Adriano Del Río; René Sonntag; Florian Hoffmann; Shivesh Kumar; Frank Kirchner (RoboSoft, 2023)

Design Analysis of a Novel Belt-Driven Manipulator for Fast Movements. - Christoph Stoeffler; Janne Janzen; Adriano Del Río; Heiner Peters (CASE, 2024)

Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory. - Vinayvivian Rodrigues; Bingbin Yu; Christoph Stoeffler; Shivesh Kumar (CoRR, 2024)

Adaptive Koopman Model Predictive Control of Simple Serial Robots. - Adriano Del Río; Christoph Stoeffler (CoRR, 2025)