Dual-mode compliant optical tactile sensor. - Espen Knoop; Jonathan Rossiter (ICRA, 2013)

Tangible Networks: A Toolkit for Exploring Network Science. - Espen Knoop; Edmund Barter; Alonso Espinosa Mireles de Villafranca; Antoni Matyjaszkiewicz; Christopher McWilliams; Lewis Roberts (ECCS, 2014)

The Tickler: A Compliant Wearable Tactile Display for Stroking and Tickling. - Espen Knoop; Jonathan Rossiter (CHI Extended Abstracts, 2015)

Handshakiness: Benchmarking for human-robot hand interactions. - Espen Knoop; Moritz Bächer; Vincent Wall; Raphael Deimel; Oliver Brock; Paul A. Beardsley (IROS, 2017)

Designing cable-driven actuation networks for kinematic chains and trees. - Vittorio Megaro; Espen Knoop; Andrew Spielberg; David I. W. Levin; Wojciech Matusik; Markus H. Gross; Bernhard Thomaszewski; Moritz Bächer (Symposium on Computer Animation, 2017)

Feeling Fireworks. - Dorothea Reusser; Espen Knoop; Roland Siegwart; Paul A. Beardsley (UIST (Adjunct Volume), 2017)

VAM: Hypocycloid Mechanism for Efficient Bioinspired Robotic Gaits. - Espen Knoop; Andrew Conn 002 (IEEE Robotics Autom. Lett., 2017)

Metasilicone: design and fabrication of composite silicone with desired mechanical properties. - Jonas Zehnder; Espen Knoop; Moritz Bächer; Bernhard Thomaszewski (ACM Trans. Graph., 2017)

Bend-it: design and fabrication of kinetic wire characters. - Hongyi Xu; Espen Knoop; Stelian Coros; Moritz Bächer (ACM Trans. Graph., 2018)

Feeling Fireworks: An Inclusive Tactile Firework Display. - Dorothea Reusser; Espen Knoop; Roland Siegwart; Paul A. Beardsley (CHI, 2019)

Fast Handovers with a Robot Character: Small Sensorimotor Delays Improve Perceived Qualities. - Matthew K. X. J. Pan; Espen Knoop; Moritz Bächer; Günter Niemeyer (IROS, 2019)

The Role of Closed-Loop Hand Control in Handshaking Interactions. - Francesco Vigni; Espen Knoop; Domenico Prattichizzo; Monica Malvezzi (IEEE Robotics Autom. Lett., 2019)

X-CAD: optimizing CAD models with extended finite elements. - Christian Hafner 002; Christian Schumacher; Espen Knoop; Thomas Auzinger; Bernd Bickel; Moritz Bächer (ACM Trans. Graph., 2019)

Vibration-minimizing motion retargeting for robotic characters. - Shayan Hoshyari; Hongyi Xu; Espen Knoop; Stelian Coros; Moritz Bächer (ACM Trans. Graph., 2019)

Design and Performance Analysis of a Skin-Stretcher Device for Urging Head Rotation. - Takahide Ito; Yuichi Nakamura 001; Kazuaki Kondo; Espen Knoop; Jonathan Rossiter (IEICE Trans. Inf. Syst., 2020)

On the role of stiffness and synchronization in human-robot handshaking. - Domenico Mura; Espen Knoop; Manuel G. Catalano; Giorgio Grioli; Moritz Bächer; Antonio Bicchi (Int. J. Robotics Res., 2020)

Simulation-Ready Characterization of Soft Robotic Materials. - Christian Schumacher; Espen Knoop; Moritz Bächer (IEEE Robotics Autom. Lett., 2020)

A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots With Kinematic Loops. - Christian Schumacher; Espen Knoop; Moritz Bächer (IEEE Robotics Autom. Lett., 2021)

Automated Routing of Muscle Fibers for Soft Robots. - Guirec Maloisel; Espen Knoop; Christian Schumacher; Moritz Bächer (IEEE Trans. Robotics, 2021)

Singularity-Aware Design Optimization for Multi-Degree-of-Freedom Spatial Linkages. - Guirec Maloisel; Espen Knoop; Bernhard Thomaszewski; Moritz Bächer; Stelian Coros (IEEE Robotics Autom. Lett., 2021)

Transformer-Based Neural Augmentation of Robot Simulation Representations. - Agon Serifi; Espen Knoop; Christian Schumacher; Naveen Kumar 004; Markus Gross 001; Moritz Bächer (IEEE Robotics Autom. Lett., 2023)

Optimal Design of Flexible-Link Mechanisms With Desired Load-Displacement Profiles. - Guirec Maloisel; Espen Knoop; Christian Schumacher; Bernhard Thomaszewski; Moritz Bächer; Stelian Coros (IEEE Robotics Autom. Lett., 2023)

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots. - Ruben Grandia; Farbod Farshidian; Espen Knoop; Christian Schumacher; Marco Hutter 001; Moritz Bächer (ACM Trans. Graph., 2023)

Optimal Design of Robotic Character Kinematics. - Guirec Maloisel; Christian Schumacher; Espen Knoop; Ruben Grandia; Moritz Bächer (ACM Trans. Graph., 2023)

Design and Control of a Bipedal Robotic Character. - Ruben Grandia; Espen Knoop; Michael A. Hopkins; Georg Wiedebach; Jared Bishop; Steven Pickles; David Müller 011; Moritz Bächer (Robotics: Science and Systems, 2024)

Soft Pneumatic Actuator Design using Differentiable Simulation. - Arvi Gjoka; Espen Knoop; Moritz Bächer; Denis Zorin; Daniele Panozzo (SIGGRAPH (Conference Paper Track), 2024)

Robot Motion Diffusion Model: Motion Generation for Robotic Characters. - Agon Serifi; Ruben Grandia; Espen Knoop; Markus Gross 001; Moritz Bächer (SIGGRAPH Asia, 2024)

Interactive Design of Stylized Walking Gaits for Robotic Characters. - Michael A. Hopkins; Georg Wiedebach; Kyle Cesare; Jared Bishop; Espen Knoop; Moritz Bächer (ACM Trans. Graph., 2024)

VMP: Versatile Motion Priors for Robustly Tracking Motion on Physical Characters. - Agon Serifi; Ruben Grandia; Espen Knoop; Markus Gross 001; Moritz Bächer (Comput. Graph. Forum, 2024)

Autonomous Human-Robot Interaction via Operator Imitation. - Sammy Christen; David Müller 011; Agon Serifi; Ruben Grandia; Georg Wiedebach; Michael A. Hopkins; Espen Knoop; Moritz Bächer (CoRR, 2025)

AMOR: Adaptive Character Control through Multi-Objective Reinforcement Learning. - Lucas N. Alegre; Agon Serifi; Ruben Grandia; David Müller 011; Espen Knoop; Moritz Bächer (CoRR, 2025)

A Versatile Quaternion-Based Constrained Rigid Body Dynamics. - Guirec Maloisel; Ruben Grandia; Christian Schumacher; Espen Knoop; Moritz Bächer (ACM Trans. Graph., 2025)