Increased robustness of humanoid standing balance in the sagittal plane through adaptive joint torque reduction. - Markus Giftthaler; Katie Byl (IROS, 2013)

Parametric Model Order Reduction of Port-Hamiltonian Systems by Matrix Interpolation. - Markus Giftthaler; Thomas Wolf 009; Heiko Panzer; Boris Lohmann (Autom., 2014)

Autonomous repositioning and localization of an in situ fabricator. - Timothy Sandy; Markus Giftthaler; Kathrin Dörfler; Matthias Kohler; Jonas Buchli (ICRA, 2016)

Fast derivatives of rigid body dynamics for control, optimization and estimation. - Michael Neunert; Markus Giftthaler; Marco Frigerio; Claudio Semini; Jonas Buchli (SIMPAR, 2016)

Real-time motion planning of legged robots: A model predictive control approach. - Farbod Farshidian; Edo Jelavic; Asutosh Satapathy; Markus Giftthaler; Jonas Buchli (Humanoids, 2017)

A projection approach to equality constrained iterative linear quadratic optimal control. - Markus Giftthaler; Jonas Buchli (Humanoids, 2017)

Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control. - Markus Giftthaler; Farbod Farshidian; Timothy Sandy; Lukas Stadelmann; Jonas Buchli (ICRA, 2017)

Automatic differentiation of rigid body dynamics for optimal control and estimation. - Markus Giftthaler; Michael Neunert; Markus Stäuble; Marco Frigerio; Claudio Semini; Jonas Buchli (Adv. Robotics, 2017)

Mobile Robotic Fabrication at 1: 1 scale: the In situ Fabricator. - Markus Giftthaler; Timothy Sandy; Kathrin Dörfler; Ian Brooks; Mark Buckingham; Gonzalo Rey; Matthias Kohler; Fabio Gramazio; Jonas Buchli (CoRR, 2017)

Optimal and Learning Control for Autonomous Robots. - Jonas Buchli; Farbod Farshidian; Alexander W. Winkler; Timothy Sandy; Markus Giftthaler (CoRR, 2017)

A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control. - Markus Giftthaler; Michael Neunert; Markus Stäuble; Jonas Buchli; Moritz Diehl (IROS, 2018)

The control toolbox - An open-source C++ library for robotics, optimal and model predictive control. - Markus Giftthaler; Michael Neunert; Markus Stäuble; Jonas Buchli (SIMPAR, 2018)

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. - Michael Neunert; Markus Stäuble; Markus Giftthaler; Carmine Dario Bellicoso; Jan Carius; Christian Gehring; Marco Hutter 001; Jonas Buchli (IEEE Robotics Autom. Lett., 2018)

Sample-Efficient Learning for Industrial Assembly using Qgraph-bounded DDPG. - Sabrina Hoppe; Markus Giftthaler; Robert Krug 003; Marc Toussaint (IROS, 2020)

Learning and Sequencing of Object-Centric Manipulation Skills for Industrial Tasks. - Leonel Dario Rozo; Meng Guo 002; Andras G. Kupcsik; Marco Todescato; Philipp Schillinger; Markus Giftthaler; Matthias Ochs; Markus Spies; Nicolai Waniek; Patrick Kesper; Mathias Bürger (IROS, 2020)

Stabilizing deep Q-learning with Q-graph-based bounds. - Sabrina Hoppe; Markus Giftthaler; Robert Krug 003; Marc Toussaint (Int. J. Robotics Res., 2023)