Two ways of walking: Contrasting a reflexive neuro-controller and a LIP-based ZMP-controller on the humanoid robot ARMAR-4. - Cornelius Goldbeck; Lukas Kaul; Nikolaus Vahrenkamp; Florentin Wörgötter; Tamim Asfour; Jan-Matthias Braun (Humanoids, 2016)

The sense of surface orientation - A new sensor modality for humanoid robots. - Lukas Kaul; Simon Ottenhaus; Pascal Weiner; Tamim Asfour (Humanoids, 2016)

Design of a high-performance humanoid dual arm system with inner shoulder joints. - Samuel Rader; Lukas Kaul; Hennes Fischbach; Nikolaus Vahrenkamp; Tamim Asfour (Humanoids, 2016)

Continuous-Time Three-Dimensional Mapping for Micro Aerial Vehicles with a Passively Actuated Rotating Laser Scanner. - Lukas Kaul; Robert Zlot; Michael Bosse (J. Field Robotics, 2016)

Highly integrated sensor-actuator-controller units for modular robot design. - Samuel Rader; Lukas Kaul; Pascal Weiner; Tamim Asfour (AIM, 2017)

Online stability estimation based on inertial sensor data for human and humanoid fall prevention. - Laura Steffan; Lukas Kaul; Tamim Asfour (Humanoids, 2017)

ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments. - Tamim Asfour; Lukas Kaul; Mirko Wächter; Simon Ottenhaus; Pascal Weiner; Samuel Rader; Raphael Grimm; You Zhou 007; Markus Grotz; Fabian Paus; Dmitriy Shingarey; Hans Haubert (Humanoids, 2018)

Linear Contact Modeling and Stochastic Parameter Optimization for LQR-Based Whole-Body Push Recovery. - Simon Bäuerle; Lukas Kaul; Tamim Asfour (Humanoids, 2018)

Learning Efficient Omni-Directional Capture Stepping for Humanoid Robots from Human Motion and Simulation Data. - Johannes Pankert; Lukas Kaul; Tamim Asfour (Humanoids, 2018)

Exploration and Reconstruction of Unknown Objects using a Novel Normal and Contact Sensor. - Simon Ottenhaus; Pascal Weiner; Lukas Kaul; Andreea Tulbure; Tamim Asfour (IROS, 2018)

Active Tactile Exploration Based on Cost-Aware Information Gain Maximization. - Simon Ottenhaus; Lukas Kaul; Nikolaus Vahrenkamp; Tamim Asfour (Int. J. Humanoid Robotics, 2018)

Torque-Based Velocity Control for Safe Human-Humanoid Interaction. - Dmitriy Shingarey; Lukas Kaul; Tamim Asfour (RAAD, 2019)

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios. - Tamim Asfour; Fabian Paus; Mirko Wächter; Lukas Kaul; Samuel Rader; Pascal Weiner; Simon Ottenhaus; Raphael Grimm; You Zhou 007; Markus Grotz (IEEE Robotics Autom. Mag., 2019)

Human-Inspired Balancing and Recovery Stepping for Humanoid Robots. - Lukas Kaul (KIT Scientific Publishing, 2019)

Motion Planning to Cartesian Targets Leveraging Large-Scale Dynamic Roadmaps. - Richard Cheng; Josh Petersen; James Borders; Daniel M. Helmick; Lukas Kaul; Dan Kruse; John Leichty; Carolyn Matl; Chavdar Papazov; Krishna Shankar; Mark Tjersland (CASE, 2023)

Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach. - Max Bajracharya; James Borders; Richard Cheng; Daniel M. Helmick; Lukas Kaul; Dan Kruse; John Leichty; Jeremy Ma; Carolyn Matl; Frank Michel 002; Chavdar Papazov; Josh Petersen; et al. (Robotics: Science and Systems, 2023)

GRASP: Grocery Robot's Adhesion and Suction Picker. - Amar Hajj-Ahmad; Lukas Kaul; Carolyn Matl; Mark R. Cutkosky (IEEE Robotics Autom. Lett., 2023)

Practical Insights on Grasp Strategies for Mobile Manipulation in the Wild. - Isabella Huang; Richard Cheng; Sangwoon Kim; Dan Kruse; Carolyn Matl; Lukas Kaul; JC Hancock; Shanmuga Harikumar; Mark Tjersland; James Borders; Daniel M. Helmick (CoRR, 2025)