Papers
44
Total Citations
4,198
H-Index
25
About
Christian Gehring is a pioneering robotics researcher whose work has fundamentally advanced the field of legged locomotion and quadrupedal robotics. Best known as a key contributor to the development of ANYmal — a 30 kg quadrupedal robot celebrated for its exceptional mobility, dynamic motion, and robustness in harsh environments — Gehring has helped transform legged robots from laboratory curiosities into practical tools for real-world deployment. His foundational work on the StarlETH platform (2012) laid critical groundwork for compliant, torque-controllable robotic systems, while his contributions to state estimation for legged robots, including an Observability Constrained Extended Kalman Filter fusing leg kinematics and IMU data (246 citations), solved essential challenges in autonomous navigation. Gehring has also made significant strides in terrain mapping, dynamic gait control, and real-time nonlinear motion optimization, enabling robots to execute complex gaits including jumping, pronking, and running. With his most-cited paper alone accumulating over 860 citations, and a body of work spanning perception, planning, and control, Gehring's research has had a profound and lasting influence on modern mobile robotics.
Research Focus
Key Achievements
Top Papers
- 1ANYmal - a highly mobile and dynamic quadrupedal robot864 citations · 2016
- 2ANYmal - toward legged robots for harsh environments330 citations · 2017
- 3ANYmal - A Highly Mobile and Dynamic Quadrupedal Robot267 citations · 2016
- 4State Estimation for Legged Robots: Consistent Fusion of Leg Kinematics and IMU246 citations · 2013
- 5
- 6
- 7Control of dynamic gaits for a quadrupedal robot202 citations · 2013
- 8ROBOT-CENTRIC ELEVATION MAPPING WITH UNCERTAINTY ESTIMATES189 citations · 2014
- 9
- 10