Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations. - Manuel Kudruss; Maximilien Naveau; Olivier Stasse; Nicolas Mansard; Christian Kirches; Philippe Souères; Katja D. Mombaur (Humanoids, 2015)

Closed loop control of walking motions with adaptive choice of directions for the iCub humanoid robot. - Kevin Stein; Yue Hu 001; Manuel Kudruss; Maximilien Naveau; Katja D. Mombaur (Humanoids, 2017)

A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control. - Maximilien Naveau; Manuel Kudruss; Olivier Stasse; Christian Kirches; Katja D. Mombaur; Philippe Souères (IEEE Robotics Autom. Lett., 2017)

Benchmarking model-free and model-based optimal control. - Ivan Koryakovskiy; Manuel Kudruss; Robert Babuska; Wouter Caarls; Christian Kirches; Katja D. Mombaur; Johannes P. Schlöder; Heike Vallery (Robotics Auton. Syst., 2017)

Model-Plant Mismatch Compensation Using Reinforcement Learning. - Ivan Koryakovskiy; Manuel Kudruss; Heike Vallery; Robert Babuska; Wouter Caarls (IEEE Robotics Autom. Lett., 2018)

Efficient Derivative Evaluation for Rigid-Body Dynamics Based on Recursive Algorithms Subject to Kinematic and Loop Constraints. - Manuel Kudruss; Paul Manns; Christian Kirches (IEEE Control. Syst. Lett., 2019)