Carl - A compliant robotic leg featuring mono- and biarticular actuation. - Steffen Schütz; Atabak Nejadfard; Krzysztof Mianowski; Patrick Vonwirth; Karsten Berns (Humanoids, 2017)

Coordination of the Biarticular Actuators Based on Mechanical Output Power in an Explosive Jump Experiment. - Atabak Nejadfard; Steffen Schütz; Krzysztof Mianowski; Patrick Vonwirth; Karsten Berns (AIM, 2018)

Moment Arm Analysis of the Biarticular Actuators in Compliant Robotic Leg Carl. - Atabak Nejadfard; Steffen Schütz; Krzysztof Mianowski; Patrick Vonwirth; Karsten Berns (Living Machines, 2018)

Continuous Inverse Kinematics in Singular Position. - Patrick Vonwirth; Karsten Berns (CLAWAR, 2021)

Bio-Inspired Imprecise Impedance Control of Muscle-Driven Robotic Limbs. - Patrick Vonwirth; Karsten Berns (CLAWAR, 2022)

FPGA-Based Emulation of a Muscle Stretch Reflex on an Electric Series Elastic Actuator. - Oleksandr Sivak; Patrick Vonwirth; Karsten Berns (CLAWAR (2), 2023)

Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision. - Patrick Vonwirth; Karsten Berns (Sensors, 2023)

Foundations of Probabilistic Behavior Networks Aiming for Structured, Distributed Control of Complex Systems like Legged Robots. - Patrick Vonwirth; Oleksandr Sivak; Karsten Berns (BioRob, 2024)

Modern Methods of Designing and Producing Elements for Walking Robots Working in Highly Dynamic Conditions. - Krzysztof Mianowski; Karsten Berns; Patrick Vonwirth; Oleksandr Sivak (CLAWAR (2), 2024)

Lightweight Human-Like Robotic Leg with Four-Bar Mechanism Joints. - Oleksandr Sivak; Krzysztof Mianowski; Patrick Vonwirth; Karsten Berns (CLAWAR (1), 2024)

Intuitive Motion: Acceleration-Based Inverse Kinematics on Arbitrary Coordinates. - Patrick Vonwirth; Axel Vierling; Oleksandr Sivak; Karsten Berns (CLAWAR (1), 2024)