Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities. - Dominic Lakatos; Alin Albu-Schäffer; Christian Rode; Florian Loeffl (Humanoids, 2016)

The DLR C-runner: Concept, design and experiments. - Florian Loeffl; Alexander Werner; Dominic Lakatos; Jens Reinecke; Sebastian Wolf 001; Robert Burger; Thomas Gumpert; Florian Schmidt 001; Christian Ott 001; Markus Grebenstein; Alin Albu-Schäffer (Humanoids, 2016)

Optimal and robust walking using intrinsic properties of a series-elastic robot. - Alexander Werner; Bernd Henze; Florian Loeffl; Sigrid Leyendecker; Christian Ott 001 (Humanoids, 2017)

Enhancing joint torque control of series elastic actuators with physical damping. - Min Jun Kim 003; Alexander Werner; Florian Christoph Loeffl; Christian Ott 001 (ICRA, 2017)

Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. - Manuel Keppler; Dominic Lakatos; Alexander Werner; Florian Loeffl; Christian Ott 001; Alin Albu-Schäffer (ECC, 2018)

Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots. - Alexander Werner; Bernd Henze; Manuel Keppler; Florian Loeffl; Sigrid Leyendecker; Christian Ott 001 (IROS, 2018)

Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design. - Dominic Lakatos; Kai Ploeger; Florian Loeffl; Daniel Seidel; Florian Schmidt 001; Thomas Gumpert; Freia John; Torsten Bertram; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2018)

A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. - Dominic Lakatos; Yuri Federigi; Thomas Gumpert; Bernd Henze; Milan Hermann; Florian Loeffl; Florian Schmidt 001; Daniel Seidel; Alin Albu-Schäffer (ICRA, 2019)

Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. - Gianluca Garofalo; Alexander Werner; Florian Loeffl; Christian Ott 001 (IEEE Control. Syst. Lett., 2019)

From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness. - Johannes Englsberger; Alessandro M. Giordano; Achraf Hiddane; Robert Schuller; Florian Loeffl; George Mesesan; Christian Ott 001 (HUMANOIDS, 2021)

Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg. - Anna Sesselmann; Florian Loeffl; Cosimo Della Santina; Máximo A. Roa; Alin Albu-Schäffer (IROS, 2021)

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case. - Luigi Bono Bonacchi; Máximo A. Roa; Anna Sesselmann; Florian Loeffl; Alin Albu-Schäffer; Cosimo Della Santina (IEEE Robotics Autom. Lett., 2021)

Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control. - Manuel Keppler; Florian Loeffl; David Wandinger; Clara Raschel; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion. - Konrad Fründ; Anton Leonhard Shu; Florian Christoph Loeffl; Christian Ott 001 (Humanoids, 2022)

Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control. - Min Jun Kim 003; Alexander Werner; Florian Loeffl; Christian Ott 001 (IEEE Trans. Robotics, 2022)

Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion. - Konrad Fründ; Fabian Beck 002; Anton Leonhard Shu; Florian Loeffl; Jinoh Lee (Humanoids, 2023)