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)

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)

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)

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)

Perceptive Locomotion in Rough Terrain - Online Foothold Optimization. - Fabian Jenelten; Takahiro Miki; Aravind Elanjimattathil Vijayan; Marko Bjelonic; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Elevation Mapping for Locomotion and Navigation using GPU. - Takahiro Miki; Lorenz Wellhausen; Ruben Grandia; Fabian Jenelten; Timon Homberger; Marco Hutter 001 (IROS, 2022)

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems. - Fabian Jenelten; Ruben Grandia; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2022)

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. - Marco Tranzatto; Frank Mascarich; Lukas Bernreiter; Carolina Godinho; Marco Camurri; Shehryar Khattak; Tung Dang; Victor Reijgwart; Johannes Loeje; David Wisth; Samuel Zimmermann; Huan Nguyen 003; et al. (Field Robotics, 2022)

DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion. - Fabian Jenelten; Junzhe He; Farbod Farshidian; Marco Hutter 001 (CoRR, 2023)

Perceptive Locomotion Through Nonlinear Model-Predictive Control. - Ruben Grandia; Fabian Jenelten; Shaohui Yang; Farbod Farshidian; Marco Hutter 001 (IEEE Trans. Robotics, 2023)

DTC: Deep Tracking Control. - Fabian Jenelten; Junzhe He; Farbod Farshidian; Marco Hutter 001 (Sci. Robotics, 2024)

Data for "Attention-Based Map Encoding for Learning Generalized Legged Locomotion". - Junzhe He; Chong Zhang; Fabian Jenelten; Ruben Grandia; Moritz Bächer; Marco Hutter 001 (Zenodo, 2024)

Attention-Based Map Encoding for Learning Generalized Legged Locomotion. - Junzhe He; Chong Zhang; Fabian Jenelten; Ruben Grandia; Moritz Bächer; Marco Hutter 001 (CoRR, 2025)