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)

Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation. - Carmine Dario Bellicoso; Luca Rosario Buonocore; Vincenzo Lippiello; Bruno Siciliano (MED, 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)

ANYpulator: Design and control of a safe robotic arm. - Karen Bodie; C. Dario Bellicoso; Marco Hutter 001 (IROS, 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)

Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics. - Jemin Hwangbo; Carmine Dario Bellicoso; Peter Fankhauser; Marco Hutter 001 (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)

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)

Robust Rough-Terrain Locomotion with a Quadrupedal Robot. - Peter Fankhauser; Marko Bjelonic; C. Dario Bellicoso; Takahiro Miki; Marco Hutter 001 (ICRA, 2018)

Real-Time Dance Generation to Music for a Legged Robot. - Thomas Bi; Peter Fankhauser; Dario Bellicoso; Marco Hutter 001 (IROS, 2018)

Skating with a Force Controlled Quadrupedal Robot. - Marko Bjelonic; C. Dario Bellicoso; Mehmet Efe Tiryaki; Marco Hutter 001 (IROS, 2018)

Advances in real-world applications for legged robots. - C. Dario Bellicoso; Marko Bjelonic; Lorenz Wellhausen; Kai Holtmann; Fabian Günther; Marco Tranzatto; Peter Fankhauser; Marco Hutter 001 (J. Field Robotics, 2018)

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)

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)

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot. - C. Dario Bellicoso; Koen Krämer; Markus Stäuble; Dhionis V. Sako; Fabian Jenelten; Marko Bjelonic; Marco Hutter 001 (ICRA, 2019)

Learning agile and dynamic motor skills for legged robots. - Jemin Hwangbo; Joonho Lee; Alexey Dosovitskiy; Dario Bellicoso; Vassilios Tsounis; Vladlen Koltun; Marco Hutter 001 (CoRR, 2019)

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots. - Marko Bjelonic; C. Dario Bellicoso; Yvain de Viragh; Dhionis V. Sako; F. Dante Tresoldi; Fabian Jenelten; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Dynamic Locomotion on Slippery Ground. - Fabian Jenelten; Jemin Hwangbo; Fabian Tresoldi; C. Dario Bellicoso; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints. - Yvain de Viragh; Marko Bjelonic; C. Dario Bellicoso; Fabian Jenelten; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Learning agile and dynamic motor skills for legged robots. - Joonho Lee; Alexey Dosovitskiy; Dario Bellicoso; Vassilios Tsounis; Vladlen Koltun; Marco Hutter 001 (Sci. Robotics, 2019)

Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization. - Marko Bjelonic; Prajish K. Sankar; C. Dario Bellicoso; Heike Vallery; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)