Walking control of fully actuated robots based on the Bipedal SLIP model. - Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2012)

Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. - Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (ACC, 2013)

Modal limit cycle control for variable stiffness actuated robots. - Dominic Lakatos; Gianluca Garofalo; Florian Petit; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2013)

On the closed form computation of the dynamic matrices and their differentiations. - Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (IROS, 2013)

Overview of the torque-controlled humanoid robot TORO. - Johannes Englsberger; Alexander Werner; Christian Ott 001; Bernd Henze; Máximo A. Roa; Gianluca Garofalo; Robert Burger; Alexander Beyer; Oliver Eiberger; Korbinian Schmid; Alin Albu-Schäffer (Humanoids, 2014)

Control applications of TORO - A Torque controlled humanoid robot. - Bernd Henze; Alexander Werner; Máximo A. Roa; Gianluca Garofalo; Johannes Englsberger; Christian Ott 001 (Humanoids, 2014)

Jumping control for compliantly actuated multilegged robots. - Dominic Lakatos; Gianluca Garofalo; Alexander Dietrich; Alin Albu-Schäffer (ICRA, 2014)

On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations. - Gianluca Garofalo; Johannes Englsberger; Christian Ott 001 (ACC, 2015)

Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta. - Alessandro M. Giordano; Gianluca Garofalo; Marco De Stefano; Christian Ott 001; Alin Albu-Schäffer (CDC, 2016)

Limit Cycle Control Using Energy Function Regulation With Friction Compensation. - Gianluca Garofalo; Christian Ott 001 (IEEE Robotics Autom. Lett., 2016)

Momentum dumping for space robots. - Alessandro M. Giordano; Gianluca Garofalo; Alin Albu-Schäffer (CDC, 2017)

Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation. - Gianluca Garofalo; Christian Ott 001 (HFR, 2017)

Passivity-based control of underactuated biped robots within hybrid zero dynamics approach. - Hamid Sadeghian; Christian Ott 001; Gianluca Garofalo; Gordon Cheng (ICRA, 2017)

Energy Based Limit Cycle Control of Elastically Actuated Robots. - Gianluca Garofalo; Christian Ott 001 (IEEE Trans. Autom. Control., 2017)

Task-space Tracking Control for Underactuated Aerial Manipulators. - Gianluca Garofalo; Fabian Beck 002; Christian Ott 001 (ECC, 2018)

Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control. - Gianluca Garofalo; Christian Ott 001 (SyRoCo, 2018)

Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control. - George Mesesan; Johannes Englsberger; Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (Humanoids, 2019)

Vibration Control for Manipulators on a Translationally Flexible Base. - Fabian Beck 002; Gianluca Garofalo; Christian Ott 001 (ICRA, 2019)

Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. - Gianluca Garofalo; Nico Mansfeld; Julius Jankowski; Christian Ott 001 (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)

A Smooth Uniting Controller for Robotic Manipulators: An Extension of the Adaptive Variance Algorithm (AVA). - Gianluca Garofalo; George Mesesan (ACC, 2020)

On the Control of Translationally Flexible Base Manipulators. - Gianluca Garofalo; Fabian Beck 002; Julian Klodmann; Christian Ott 001 (ECC, 2020)

MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. - Johannes Englsberger; Alexander Dietrich; George Mesesan; Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (Robotics: Science and Systems, 2020)

Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds. - Gianluca Garofalo; Christian Ott 001 (IEEE Robotics Autom. Lett., 2020)

Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators. - Gianluca Garofalo; Xuwei Wu; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators. - Xuwei Wu; Annika Kirner; Gianluca Garofalo; Christian Ott 001; Paul Kotyczka; Alexander Dietrich (IEEE Robotics Autom. Lett., 2022)

Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications. - Hrishik Mishra; Gianluca Garofalo; Alessandro Massimo Giordano; Marco De Stefano; Christian Ott 001; Andreas Kugi (IEEE Trans. Robotics, 2023)

Variable Impedance Control Combining Reinforcement Learning and Gaussian Process Regression. - Paolino De Risi; Fabio Amadio; Gianluca Garofalo; Fanny Ficuciello; Pietro Falco (Humanoids, 2024)

Current-Based Impedance Control for Interacting with Mobile Manipulators. - Jelmer de Wolde; Luzia Knödler; Gianluca Garofalo; Javier Alonso-Mora (IROS, 2024)

Compliant Hierarchical Control for Arbitrary Equality and Inequality Tasks with Strict and Soft Priorities. - Gianluca Garofalo (CoRR, 2024)