State estimation for a humanoid robot. - Nicholas Rotella; Michael Blösch; Ludovic Righetti; Stefan Schaal (IROS, 2014)

Trajectory generation for multi-contact momentum control. - Alexander Herzog; Nicholas Rotella; Stefan Schaal; Ludovic Righetti (Humanoids, 2015)

Humanoid momentum estimation using sensed contact wrenches. - Nicholas Rotella; Alexander Herzog; Stefan Schaal; Ludovic Righetti (Humanoids, 2015)

Balancing and walking using full dynamics LQR control with contact constraints. - Sean Mason; Nicholas Rotella; Stefan Schaal; Ludovic Righetti (Humanoids, 2016)

Inertial sensor-based humanoid joint state estimation. - Nicholas Rotella; Sean Mason; Stefan Schaal; Ludovic Righetti (ICRA, 2016)

Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid. - Alexander Herzog; Nicholas Rotella; Sean Mason; Felix Grimminger; Stefan Schaal; Ludovic Righetti (Auton. Robots, 2016)

A MPC Walking Framework With External Contact Forces. - Sean Mason; Nicholas Rotella; Stefan Schaal; Ludovic Righetti (CoRR, 2017)

An MPC Walking Framework with External Contact Forces. - Sean Mason; Nicholas Rotella; Stefan Schaal; Ludovic Righetti (ICRA, 2018)

Unsupervised Contact Learning for Humanoid Estimation and Control. - Nicholas Rotella; Stefan Schaal; Ludovic Righetti (ICRA, 2018)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Majid Khadiv (CoRR, 2022)

On the Use of Torque Measurement in Centroidal State Estimation. - Shahram Khorshidi; Ahmad Gazar; Nicholas Rotella; Maximilien Naveau; Ludovic Righetti; Maren Bennewitz; Majid Khadiv (ICRA, 2023)