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)

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)

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot. - C. Dario Bellicoso; Koen Krämer; Markus Stäuble; Dhionis V. Sako; Fabian Jenelten; Marko Bjelonic; Marco Hutter 001 (ICRA, 2019)