Modifying the estimated ground height to mitigate error effects on bipedal robot walking. - Daniel Wahrmann; Tilman Knopp; Robert Wittmann; Arne-Christoph Hildebrandt; Felix Sygulla; Philipp Seiwald; Daniel Rixen; Thomas Buschmann (AIM, 2017)

Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics. - Felix Sygulla; Robert Wittmann; Philipp Seiwald; Arne-Christoph Hildebrandt; Daniel Wahrmann; Daniel Rixen (Humanoids, 2017)

Real-Time Path Planning in Unknown Environments for Bipedal Robots. - Arne-Christoph Hildebrandt; Moritz Klischat; Daniel Wahrmann; Robert Wittmann; Felix Sygulla; Philipp Seiwald; Daniel Rixen; Thomas Buschmann (IEEE Robotics Autom. Lett., 2017)

An EtherCAT-Based Real-Time Control System Architecture for Humanoid Robots. - Felix Sygulla; Robert Wittmann; Philipp Seiwald; Tobias F. C. Berninger; Arne-Christoph Hildebrandt; Daniel Wahrmann; Daniel Rixen (CASE, 2018)

Human-Robot Cooperative Object Manipulation with Contact Changes. - Michael Gienger; Dirk Ruiken; Tamas Bates; Mohamed Regaieg; Michael MeiBner; Jens Kober; Philipp Seiwald; Arne-Christoph Hildebrandt (IROS, 2018)

Quintic Spline Collocation for Real-Time Biped Walking-Pattern Generation with variable Torso Height. - Philipp Seiwald; Felix Sygulla; Nora-Sophie Staufenberg; Daniel Rixen (Humanoids, 2019)

Kinematic optimization for bipedal robots: a framework for real-time collision avoidance. - Arne-Christoph Hildebrandt; Simon Schwerd; Robert Wittmann; Daniel Wahrmann; Felix Sygulla; Philipp Seiwald; Daniel Rixen; Thomas Buschmann (Auton. Robots, 2019)

Vision-Based 3D Modeling of Unknown Dynamic Environments for Real-Time Humanoid Navigation. - Daniel Wahrmann; Arne-Christoph Hildebrandt; Tamas Bates; Robert Wittmann; Felix Sygulla; Philipp Seiwald; Daniel Rixen (Int. J. Humanoid Robotics, 2019)

Fast Approximation of Over-Determined Second-Order Linear Boundary Value Problems by Cubic and Quintic Spline Collocation. - Philipp Seiwald; Daniel J. Rixen (Robotics, 2020)

LOLA v1.1 - An Upgrade in Hardware and Software Design for Dynamic Multi-Contact Locomotion. - Philipp Seiwald; Shun-Cheng Wu; Felix Sygulla; Tobias F. C. Berninger; Nora-Sophie Staufenberg; Moritz F. Sattler; Nicolas Neuburger; Daniel Rixen; Federico Tombari (HUMANOIDS, 2021)

Spherical Cubic Blends: $ mathcal{C}^{2}$-Continuous, Zero-Clamped, and Time-Optimized Interpolation of Quaternions. - Jonas Wittmann; Lukas Cha; Marco Kappertz; Philipp Seiwald; Daniel J. Rixen (ICRA, 2023)