Bipedal walking control based on Capture Point dynamics. - Johannes Englsberger; Christian Ott 001; Máximo A. Roa; Alin Albu-Schäffer; Gerhard Hirzinger (IROS, 2011)

Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking. - Johannes Englsberger; Christian Ott 001 (Humanoids, 2012)

Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion. - Hiroshi Kaminaga; Johannes Englsberger; Christian Ott 001 (Humanoids, 2012)

Stabilization of the Capture Point Dynamics for Bipedal Walking Based on Model Predictive Control. - Manuel Krause; Johannes Englsberger; Pierre-Brice Wieber; Christian Ott 001 (SyRoCo, 2012)

Gangstabilisierung humanoider Roboter mittels Capture Point Regelung. - Johannes Englsberger; Christian Ott 001 (Autom., 2012)

Three-dimensional bipedal walking control using Divergent Component of Motion. - Johannes Englsberger; 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)

Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. - Johannes Englsberger; Twan Koolen; Sylvain Bertrand; Jerry E. Pratt; Christian Ott 001; Alin Albu-Schäffer (IROS, 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)

Biologically inspired deadbeat control for running on 3D stepping stones. - Johannes Englsberger; Pawel Kozlowski; Christian Ott 001 (Humanoids, 2015)

Biologically Inspired Dead-beat controller for bipedal running in 3D. - Johannes Englsberger; Pawel Kozlowski; Christian Ott 001 (IROS, 2015)

Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion. - Johannes Englsberger; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2015)

Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas. - Twan Koolen; Sylvain Bertrand; Gray Thomas; Tomas de Boer; Tingfan Wu; Jesper Smith; Johannes Englsberger; Jerry E. Pratt (Int. J. Humanoid Robotics, 2016)

Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back. - Johannes Englsberger; Pawel Kozlowski; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2016)

Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion. - George Mesesan; Johannes Englsberger; Bernd Henze; Christian Ott 001 (ICRA, 2017)

Smooth trajectory generation and push-recovery based on Divergent Component of Motion. - Johannes Englsberger; George Mesesan; Christian Ott 001 (IROS, 2017)

Continuous Legged Locomotion Planning. - Nicolas Perrin 001; Christian Ott 001; Johannes Englsberger; Olivier Stasse; Florent Lamiraux; Darwin G. Caldwell (IEEE Trans. Robotics, 2017)

DCM-Based Gait Generation for Walking on Moving Support Surfaces. - Johannes Englsberger; George Mesesan; Christian Ott 001; Alin Albu-Schäffer (Humanoids, 2018)

Torque-Based Dynamic Walking - A Long Way from Simulation to Experiment. - Johannes Englsberger; George Mesesan; Alexander Werner; Christian Ott 001 (ICRA, 2018)

Inclusion of Angular Momentum During Planning for Capture Point Based Walking. - Tim Seyde; Apoorv Shrivastava; Johannes Englsberger; Sylvain Bertrand; Jerry E. Pratt; Robert J. Griffin (ICRA, 2018)

Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion. - George Mesesan; Johannes Englsberger; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 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)

Sensitivity of Legged Balance Control to Uncertainties and Sampling Period. - Nahuel Alejandro Villa; Johannes Englsberger; Pierre-Brice Wieber (IEEE Robotics Autom. Lett., 2019)

Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. - Abderrahmane Kheddar; Máximo A. Roa; Pierre-Brice Wieber; François Chaumette; Fabien Spindler; Giuseppe Oriolo; Leonardo Lanari; Adrien Escande; Kevin Chappellet; Fumio Kanehiro; Patrice Rabaté; Stéphane Caron; et al. (IEEE Robotics Autom. Mag., 2019)

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)

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)

Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control. - Shengzhi Wang; George Mesesan; Johannes Englsberger; Dongheui Lee; Christian Ott 001 (HUMANOIDS, 2021)

Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion. - George Mesesan; Johannes Englsberger; Christian Ott 001 (ICRA, 2021)

Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery. - Robert Schuller; George Mesesan; Johannes Englsberger; Jinoh Lee; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions. - Tobias Egle; Johannes Englsberger; Christian Ott 001 (Humanoids, 2022)

Planning Natural Locomotion for Articulated Soft Quadrupeds. - Mathew Jose Pollayil; Cosimo Della Santina; George Mesesan; Johannes Englsberger; Daniel Seidel; Manolo Garabini; Christian Ott 001; Antonio Bicchi; Alin Albu-Schäffer (ICRA, 2022)

Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion. - Robert Schuller; George Mesesan; Johannes Englsberger; Jinoh Lee; Christian Ott 001 (ICRA, 2022)

Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases. - Tobias Egle; Johannes Englsberger; Christian Ott 001 (Humanoids, 2023)

Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study. - Sait Sovukluk; Johannes Englsberger; Christian Ott 001 (IROS, 2023)

Coriolis Factorizations and their Connections to Riemannian Geometry. - Patrick M. Wensing; Johannes Englsberger; Jean-Jacques E. Slotine (CoRR, 2023)

Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion. - George Mesesan; Robert Schuller; Johannes Englsberger; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2023)

Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots. - Connor W. Herron; Robert Schuller; Benjamin Beiter; Robert J. Griffin; Alexander Leonessa; Johannes Englsberger (CoRR, 2024)

Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics. - Sait Sovukluk; Johannes Englsberger; Christian Ott 001 (IEEE Robotics Autom. Lett., 2024)

Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics. - Sait Sovukluk; Robert Schuller; Johannes Englsberger; Christian Ott 001 (CoRR, 2025)

Motion Planning for Humanoid Locomotion: Applications to Homelike Environments. - George Mesesan; Robert Schuller; Johannes Englsberger; Máximo A. Roa; Jinoh Lee; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Mag., 2025)