From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness. - Johannes Englsberger; Alessandro M. Giordano; Achraf Hiddane; Robert Schuller; Florian Loeffl; George Mesesan; Christian Ott 001 (HUMANOIDS, 2021)

Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery. - Robert Schuller; George Mesesan; Johannes Englsberger; Jinoh Lee; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion. - Robert Schuller; George Mesesan; Johannes Englsberger; Jinoh Lee; Christian Ott 001 (ICRA, 2022)

Agile and Dynamic Standing-Up Control for Humanoids Using 3D Divergent Component of Motion in Multi-Contact Scenario. - Grazia Zambella; Robert Schuller; George Mesesan; Antonio Bicchi; Christian Ott 001; Jinoh Lee (IEEE Robotics Autom. Lett., 2023)

Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion. - George Mesesan; Robert Schuller; Johannes Englsberger; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2023)

Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots. - Connor W. Herron; Robert Schuller; Benjamin Beiter; Robert J. Griffin; Alexander Leonessa; Johannes Englsberger (CoRR, 2024)

An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints. - Robert Schuller; Jens Reinecke; Henry Maurenbrecher; Christian Ott 001; Alin Albu-Schäffer; Bastian Deutschmann; Fred Buettner; Jens Heim; Frank Benkert; Stefan Glueck (Frontiers Robotics AI, 2024)

Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics. - Sait Sovukluk; Robert Schuller; Johannes Englsberger; Christian Ott 001 (CoRR, 2025)

Motion Planning for Humanoid Locomotion: Applications to Homelike Environments. - George Mesesan; Robert Schuller; Johannes Englsberger; Máximo A. Roa; Jinoh Lee; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Mag., 2025)