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Christian Gehring
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Journal Articles
- 2018
- [j8]Michael Neunert
, Markus Stäuble
, Markus Giftthaler
, Carmine Dario Bellicoso
, Jan Carius
, Christian Gehring
, Marco Hutter
, Jonas Buchli:
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. IEEE Robotics Autom. Lett. 3(2): 1458-1465 (2018) - [j7]C. Dario Bellicoso, Fabian Jenelten
, Christian Gehring
, Marco Hutter:
Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots. IEEE Robotics Autom. Lett. 3(3): 2261-2268 (2018) - 2017
- [j6]Marco Hutter, Christian Gehring
, Andreas Lauber, Fabian Günther, Carmine Dario Bellicoso, Vassilios Tsounis, Peter Fankhauser, Remo Diethelm, Samuel Bachmann, Michael Blösch, Hendrik Kolvenbach, Marko Bjelonic, Linus Isler, Konrad Meyer:
ANYmal - toward legged robots for harsh environments. Adv. Robotics 31(17): 918-931 (2017) - 2016
- [j5]Christian Gehring
, Stelian Coros
, Marco Hutter, Carmine Dario Bellicoso, Huub Heijnen, Remo Diethelm, Michael Bloesch, Peter Fankhauser, Jemin Hwangbo, Mark A. Hoepflinger, Roland Siegwart
:
Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot. IEEE Robotics Autom. Mag. 23(1): 34-43 (2016) - 2015
- [j4]Jemin Hwangbo, Christian Gehring
, Hannes Sommer, Roland Siegwart
, Jonas Buchli:
Policy Learning with an Efficient Black-Box Optimization Algorithm. Int. J. Humanoid Robotics 12(3): 1550029:1-1550029:20 (2015) - 2014
- [j3]Marco Hutter, Hannes Sommer, Christian Gehring
, Mark A. Hoepflinger, Michael Blösch, Roland Siegwart
:
Quadrupedal locomotion using hierarchical operational space control. Int. J. Robotics Res. 33(8): 1047-1062 (2014) - [j2]Marco Hutter, Christian Gehring
, Mark A. Höpflinger, Michael Blösch, Roland Siegwart
:
Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped. IEEE Trans. Robotics 30(6): 1427-1440 (2014) - 2012
- [j1]C. David Remy, Marco Hutter, Mark A. Hoepflinger, Michael Blösch, Christian Gehring
, Roland Siegwart
:
Quadrupedal Robots with Stiff and Compliant Actuation. Autom. 60(11): 682-691 (2012)
Conference and Workshop Papers
- 2019
- [c20]Christian Gehring
, Peter Fankhauser, Linus Isler, Remo Diethelm, Samuel Bachmann, M. Potz, L. Gerstenberg, Marco Hutter:
ANYmal in the Field: Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot. FSR 2019: 247-260 - 2017
- [c19]Marco Hutter, Remo Diethelm, Samuel Bachmann, Peter Fankhauser, Christian Gehring
, Vassilios Tsounis, Andreas Lauber, Fabian Günther, Marko Bjelonic, Linus Isler, Hendrik Kolvenbach, Konrad Meyer, Mark A. Höpflinger:
Towards a Generic Solution for Inspection of Industrial Sites. FSR 2017: 575-589 - [c18]Christian Gehring
, C. Dario Bellicoso, Peter Fankhauser, Stelian Coros
, Marco Hutter:
Quadrupedal locomotion using trajectory optimization and hierarchical whole body control. ICRA 2017: 4788-4794 - [c17]C. Dario Bellicoso, Fabian Jenelten
, Peter Fankhauser, Christian Gehring
, Jemin Hwangbo, Marco Hutter:
Dynamic locomotion and whole-body control for quadrupedal robots. IROS 2017: 3359-3365 - 2016
- [c16]C. Dario Bellicoso, Christian Gehring
, Jemin Hwangbo, Peter Fankhauser, Marco Hutter:
Perception-less terrain adaptation through whole body control and hierarchical optimization. Humanoids 2016: 558-564 - [c15]Peter Fankhauser, C. Dario Bellicoso, Christian Gehring
, Renaud Dubé, Abel Gawel, Marco Hutter:
Free Gait - An architecture for the versatile control of legged robots. Humanoids 2016: 1052-1058 - [c14]Marco Hutter, Christian Gehring
, Dominic Jud, Andreas Lauber, C. Dario Bellicoso, Vassilios Tsounis, Jemin Hwangbo, Karen Bodie, Peter Fankhauser, Michael Bloesch, Remo Diethelm, Samuel Bachmann, Amir Melzer
, Mark A. Höpflinger:
ANYmal - a highly mobile and dynamic quadrupedal robot. IROS 2016: 38-44 - 2015
- [c13]Jemin Hwangbo, Christian Gehring
, Dario Bellicoso, Peter Fankhauser, Roland Siegwart
, Marco Hutter:
Direct state-to-action mapping for high DOF robots using ELM. IROS 2015: 2842-2847 - [c12]Christian Gehring
, C. Dario Bellicoso, Stelian Coros
, Michael Blösch, Peter Fankhauser, Marco Hutter, Roland Siegwart
:
Dynamic trotting on slopes for quadrupedal robots. IROS 2015: 5129-5135 - 2014
- [c11]Jemin Hwangbo, Christian Gehring
, Hannes Sommer, Roland Siegwart
, Jonas Buchli:
ROCK∗ - Efficient black-box optimization for policy learning. Humanoids 2014: 535-540 - [c10]Marco Hutter, Christian Gehring
, Michael Blösch, Mark A. Höpflinger, Peter Fankhauser, Roland Siegwart
:
Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control. ICRA 2014: 2977-2982 - [c9]Christian Gehring
, Stelian Coros
, Marco Hutter, Michael Blösch, Peter Fankhauser, Markus A. Höpflinger, Roland Siegwart
:
Towards automatic discovery of agile gaits for quadrupedal robots. ICRA 2014: 4243-4248 - [c8]Michael Blösch, Sammy Omari, Peter Fankhauser, Hannes Sommer, Christian Gehring
, Jemin Hwangbo, Mark A. Hoepflinger, Marco Hutter, Roland Siegwart
:
Fusion of optical flow and inertial measurements for robust egomotion estimation. IROS 2014: 3102-3107 - 2013
- [c7]Michael Blösch, Marco Hutter, Christian Gehring
, Mark A. Höpflinger, Roland Siegwart
:
Kinematic batch calibration for legged robots. ICRA 2013: 2542-2547 - [c6]Christian Gehring
, Stelian Coros
, Marco Hutter, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart
:
Control of dynamic gaits for a quadrupedal robot. ICRA 2013: 3287-3292 - [c5]Mark A. Hoepflinger, Marco Hutter, Christian Gehring
, Michael Blösch, Roland Siegwart
:
Unsupervised identification and prediction of foothold robustness. ICRA 2013: 3293-3298 - [c4]Peter Fankhauser, Marco Hutter, Christian Gehring
, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart
:
Reinforcement learning of single legged locomotion. IROS 2013: 188-193 - [c3]Michael Blösch, Christian Gehring
, Peter Fankhauser, Marco Hutter, Mark A. Hoepflinger, Roland Siegwart
:
State estimation for legged robots on unstable and slippery terrain. IROS 2013: 6058-6064 - 2012
- [c2]Michael Blösch, Marco Hutter, Mark A. Hoepflinger, Stefan Leutenegger, Christian Gehring, C. David Remy, Roland Siegwart:
State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU. Robotics: Science and Systems 2012 - [c1]Marco Hutter, Mark A. Hoepflinger, Christian Gehring, Michael Blösch, C. David Remy, Roland Siegwart:
Hybrid Operational Space Control for Compliant Legged Systems. Robotics: Science and Systems 2012
Informal and Other Publications
- 2017
- [i2]Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli:
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds. CoRR abs/1712.02889 (2017) - 2016
- [i1]Michael Bloesch, Hannes Sommer, Tristan Laidlow, Michael Burri, Gabriel Nützi, Peter Fankhauser, Dario Bellicoso, Christian Gehring, Stefan Leutenegger, Marco Hutter, Roland Siegwart:
A Primer on the Differential Calculus of 3D Orientations. CoRR abs/1606.05285 (2016)
Coauthor Index
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