Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots. - Marko Bjelonic; C. Dario Bellicoso; Yvain de Viragh; Dhionis V. Sako; F. Dante Tresoldi; Fabian Jenelten; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints. - Yvain de Viragh; Marko Bjelonic; C. Dario Bellicoso; Fabian Jenelten; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2019)

LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops. - Victor Klemm; Alessandro Morra; Lionel Gulich; Dominik Mannhart; David Rohr; Mina Kamel; Yvain de Viragh; Roland Siegwart (IEEE Robotics Autom. Lett., 2020)

Nonsmooth Trajectory Optimization for Wheeled Balancing Robots With Contact Switches and Impacts. - Victor Klemm; Yvain de Viragh; David Rohr; Roland Siegwart; Marco Tognon (IEEE Trans. Robotics, 2025)