| 2019 | ICRA | Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees. | Bernd Henze, Mximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, Alin Albu-Schffer |
| 2019 | ICRA | A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. | Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schffer |
| 2018 | IROS | Humanoid Teleoperation Using Task-Relevant Haptic Feedback. | Firas Abi-Farraj, Bernd Henze, Alexander Werner, Michael Panzirsch, Christian Ott, Mximo A. Roa |
| 2018 | IROS | Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots. | Alexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott |
| 2017 | ICRA | Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion. | George Mesesan, Johannes Englsberger, Bernd Henze, Christian Ott |
| 2017 | IROS | Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts. | Bernd Henze, Alexander Dietrich, Mximo A. Roa, Christian Ott |
| 2016 | IROS | Multi-contact planning and control for a torque-controlled humanoid robot. | Alexander Werner, Bernd Henze, Diego A. Rodriguez, Jonathan Gabaret, Oliver Porges, Mximo A. Roa |
| 2014 | IROS | Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control. | Bernd Henze, Christian Ott, Mximo A. Roa |
| 2013 | IROS | Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing. | Christian Ott, Bernd Henze, Dongheui Lee |