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Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped., , , , and . IEEE Trans. Robotics, 30 (6): 1427-1440 (2014)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)Kinematic batch calibration for legged robots., , , , and . ICRA, page 2542-2547. IEEE, (2013)Dynamic trotting on slopes for quadrupedal robots., , , , , , and . IROS, page 5129-5135. IEEE, (2015)ANYmal - a highly mobile and dynamic quadrupedal robot., , , , , , , , , and 4 other author(s). IROS, page 38-44. IEEE, (2016)Fusion of optical flow and inertial measurements for robust egomotion estimation., , , , , , , , and . IROS, page 3102-3107. IEEE, (2014)A Primer on the Differential Calculus of 3D Orientations, , , , , , , , , and 1 other author(s). (2016)cite arxiv:1606.05285.A Primer on the Differential Calculus of 3D Orientations., , , , , , , , , and 1 other author(s). CoRR, (2016)State estimation for legged robots on unstable and slippery terrain., , , , , and . IROS, page 6058-6064. IEEE, (2013)