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Christian Gehring

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2010 – 2019

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2019
[c20]
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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
2018
[j8]
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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]
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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]
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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)
[c19]
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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]
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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]
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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
[i2]
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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
[j5]
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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)
[c16]
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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]
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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]
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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
[i1]
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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)
2015
[j4]
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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)
[c13]
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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]
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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
[j3]
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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]
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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)
[c11]
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Jemin Hwangbo, Christian Gehring, Hannes Sommer, Roland Siegwart, Jonas Buchli:
ROCK∗ - Efficient black-box optimization for policy learning. Humanoids 2014: 535-540
[c10]
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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]
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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]
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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]
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Michael Blösch, Marco Hutter, Christian Gehring, Mark A. Höpflinger, Roland Siegwart:
Kinematic batch calibration for legged robots. ICRA 2013: 2542-2547
[c6]
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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]
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Mark A. Hoepflinger, Marco Hutter, Christian Gehring, Michael Blösch, Roland Siegwart:
Unsupervised identification and prediction of foothold robustness. ICRA 2013: 3293-3298
[c4]
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Peter Fankhauser, Marco Hutter, Christian Gehring, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart:
Reinforcement learning of single legged locomotion. IROS 2013: 188-193
[c3]
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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
[j1]
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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)
[c2]
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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]
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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

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