Christian Gehring

31 papers A* 6A 7Journal 11Unranked 7
YearRankTypeTitle / Venue / Authors
2025 J jnl
Multi-critic Learning for Whole-body End-effector Twist Tracking.
CoRR
Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione, Christian Gehring, Marco Hutter
2019 — conf
ANYmal in the Field: Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot.
FSR
Christian Gehring, Peter Fankhauser, Linus Isler, Remo Diethelm, Samuel Bachmann, M. Potz, L. Gerstenberg, Marco Hutter
2018 J jnl
Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots.
IEEE Robotics Autom. Lett.
C. Dario Bellicoso, Fabian Jenelten, Christian Gehring, Marco Hutter
2018 J jnl
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds.
IEEE Robotics Autom. Lett.
Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli
2017 J jnl
ANYmal - toward legged robots for harsh environments.
Adv. Robotics
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
2017 A conf
Dynamic locomotion and whole-body control for quadrupedal robots.
IROS
C. Dario Bellicoso, Fabian Jenelten, Peter Fankhauser, Christian Gehring, Jemin Hwangbo, Marco Hutter
2017 A* conf
Quadrupedal locomotion using trajectory optimization and hierarchical whole body control.
ICRA
Christian Gehring, C. Dario Bellicoso, Peter Fankhauser, Stelian Coros, Marco Hutter
2017 — conf
Towards a Generic Solution for Inspection of Industrial Sites.
FSR
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
2017 J jnl
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds.
CoRR
Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli
2016 J jnl
A Primer on the Differential Calculus of 3D Orientations.
CoRR
Michael Bloesch, Hannes Sommer, Tristan Laidlow, Michael Burri, Gabriel Nützi, Peter Fankhauser, Dario Bellicoso, Christian Gehring, Stefan Leutenegger, Marco Hutter, Roland Siegwart
2016 A conf
ANYmal - a highly mobile and dynamic quadrupedal robot.
IROS
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
2016 — conf
Free Gait - An architecture for the versatile control of legged robots.
Humanoids
Peter Fankhauser, C. Dario Bellicoso, Christian Gehring, Renaud Dubé, Abel Gawel, Marco Hutter
2016 — conf
Perception-less terrain adaptation through whole body control and hierarchical optimization.
Humanoids
C. Dario Bellicoso, Christian Gehring, Jemin Hwangbo, Peter Fankhauser, Marco Hutter
2016 J jnl
Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot.
IEEE Robotics Autom. Mag.
Christian Gehring, Stelian Coros, Marco Hutter, Carmine Dario Bellicoso, Huub Heijnen, Remo Diethelm, Michael Bloesch, Peter Fankhauser, Jemin Hwangbo, Mark A. Hoepflinger, Roland Siegwart
2015 A conf
Direct state-to-action mapping for high DOF robots using ELM.
IROS
Jemin Hwangbo, Christian Gehring, Dario Bellicoso, Peter Fankhauser, Roland Siegwart, Marco Hutter
2015 A conf
Dynamic trotting on slopes for quadrupedal robots.
IROS
Christian Gehring, C. Dario Bellicoso, Stelian Coros, Michael Blösch, Peter Fankhauser, Marco Hutter, Roland Siegwart
2015 J jnl
Policy Learning with an Efficient Black-Box Optimization Algorithm.
Int. J. Humanoid Robotics
Jemin Hwangbo, Christian Gehring, Hannes Sommer, Roland Siegwart, Jonas Buchli
2014 A* conf
Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control.
ICRA
Marco Hutter, Christian Gehring, Michael Blösch, Mark A. Höpflinger, Peter Fankhauser, Roland Siegwart
2014 A conf
Fusion of optical flow and inertial measurements for robust egomotion estimation.
IROS
Michael Blösch, Sammy Omari, Peter Fankhauser, Hannes Sommer, Christian Gehring, Jemin Hwangbo, Mark A. Hoepflinger, Marco Hutter, Roland Siegwart
2014 J jnl
Quadrupedal locomotion using hierarchical operational space control.
Int. J. Robotics Res.
Marco Hutter, Hannes Sommer, Christian Gehring, Mark A. Hoepflinger, Michael Blösch, Roland Siegwart
2014 — conf
ROCK∗ - Efficient black-box optimization for policy learning.
Humanoids
Jemin Hwangbo, Christian Gehring, Hannes Sommer, Roland Siegwart, Jonas Buchli
2014 J jnl
Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped.
IEEE Trans. Robotics
Marco Hutter, Christian Gehring, Mark A. Höpflinger, Michael Blösch, Roland Siegwart
2014 A* conf
Towards automatic discovery of agile gaits for quadrupedal robots.
ICRA
Christian Gehring, Stelian Coros, Marco Hutter, Michael Blösch, Peter Fankhauser, Markus A. Höpflinger, Roland Siegwart
2013 A* conf
Control of dynamic gaits for a quadrupedal robot.
ICRA
Christian Gehring, Stelian Coros, Marco Hutter, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart
2013 A* conf
Kinematic batch calibration for legged robots.
ICRA
Michael Blösch, Marco Hutter, Christian Gehring, Mark A. Höpflinger, Roland Siegwart
2013 A conf
Reinforcement learning of single legged locomotion.
IROS
Peter Fankhauser, Marco Hutter, Christian Gehring, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart
2013 A conf
State estimation for legged robots on unstable and slippery terrain.
IROS
Michael Blösch, Christian Gehring, Peter Fankhauser, Marco Hutter, Mark A. Hoepflinger, Roland Siegwart
2013 A* conf
Unsupervised identification and prediction of foothold robustness.
ICRA
Mark A. Hoepflinger, Marco Hutter, Christian Gehring, Michael Blösch, Roland Siegwart
2012 — conf
Hybrid Operational Space Control for Compliant Legged Systems.
Robotics: Science and Systems
Marco Hutter, Mark A. Hoepflinger, Christian Gehring, Michael Blösch, C. David Remy, Roland Siegwart
2012 J jnl
Quadrupedal Robots with Stiff and Compliant Actuation.
Autom.
C. David Remy, Marco Hutter, Mark A. Hoepflinger, Michael Blösch, Christian Gehring, Roland Siegwart
2012 — conf
State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU.
Robotics: Science and Systems
Michael Blösch, Marco Hutter, Mark A. Hoepflinger, Stefan Leutenegger, Christian Gehring, C. David Remy, Roland Siegwart