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Skating with a Force Controlled Quadrupedal Robot., , , and . IROS, page 7555-7561. IEEE, (2018)Perception-less terrain adaptation through whole body control and hierarchical optimization., , , , and . Humanoids, page 558-564. IEEE, (2016)Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints., , , , and . IEEE Robotics Autom. Lett., 4 (2): 1633-1640 (2019)ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot., , , , , , and . ICRA, page 8477-8483. IEEE, (2019)Dynamic locomotion and whole-body control for quadrupedal robots., , , , , and . IROS, page 3359-3365. IEEE, (2017)Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots., , , and . IEEE Robotics Autom. Lett., 3 (3): 2261-2268 (2018)Free Gait - An architecture for the versatile control of legged robots., , , , , and . Humanoids, page 1052-1058. IEEE, (2016)ANYmal - a highly mobile and dynamic quadrupedal robot., , , , , , , , , and 4 other author(s). IROS, page 38-44. IEEE, (2016)Dynamic trotting on slopes for quadrupedal robots., , , , , , and . IROS, page 5129-5135. IEEE, (2015)Robust Rough-Terrain Locomotion with a Quadrupedal Robot., , , , and . ICRA, page 1-8. IEEE, (2018)