- Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics (video) (paper)
- Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study (video) (paper)
- Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations (video+paper)