Agile Justin: An upgraded member of DLR's family of lightweight and torque controlled humanoids. - Berthold Bäuml; Tobias Hammer; René Wagner; Oliver Birbach; Thomas Gumpert; F. Zhi; Ulrich Hillenbrand; S. Beer; Werner Friedl; Jörg Butterfaß (ICRA, 2014)

The DLR C-runner: Concept, design and experiments. - Florian Loeffl; Alexander Werner; Dominic Lakatos; Jens Reinecke; Sebastian Wolf 001; Robert Burger; Thomas Gumpert; Florian Schmidt 001; Christian Ott 001; Markus Grebenstein; Alin Albu-Schäffer (Humanoids, 2016)

Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design. - Dominic Lakatos; Kai Ploeger; Florian Loeffl; Daniel Seidel; Florian Schmidt 001; Thomas Gumpert; Freia John; Torsten Bertram; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2018)

A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. - Dominic Lakatos; Yuri Federigi; Thomas Gumpert; Bernd Henze; Milan Hermann; Florian Loeffl; Florian Schmidt 001; Daniel Seidel; Alin Albu-Schäffer (ICRA, 2019)

Adapting Highly-Dynamic Compliant Movements to Changing Environments: A Benchmark Comparison of Reflex- vs. CPG-Based Control Strategies. - Annika Schmidt; Benedikt Feldotto; Thomas Gumpert; Daniel Seidel; Alin Albu-Schäffer; Philipp Stratmann (Frontiers Neurorobotics, 2021)

Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case. - Annika Schmidt; Thomas Gumpert; Stefan Schreiber; Alin Albu-Schäffer (AIM, 2022)

Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint. - Annika Schmidt; Filip Pasic; Davide Calzolari; Arne Sachtler; Thomas Gumpert; Manuel Keppler; Alin Albu-Schäffer (ECC, 2024)

Virtual elasto-plastic robot compliance to active environments. - Michael Panzirsch; Harsimran Singh; Xuwei Wu; Maged Iskandar; Anne Köpken; Rute Luz; Nesrine Batti; Florian Samuel Lay; Ajithkumar Narayanan Manaparampil; Luisa Mayershofer; Xiaozhou Luo; Robert Burger; et al. (Sci. Robotics, 2025)