Swing leg retraction using virtual apex method for the ParkourBot climbing robot. - Omer Nir; Adar Gaathon; Amir Degani (IROS, 2017)

A Variable Rolling SLIP Model for a Conceptual Leg Shape to Increase Robustness of Uncertain Velocity on Unknown Terrain. - Adar Gaathon; Amir Degani (Robotics: Science and Systems, 2020)

Design of a Minimalistic Torque Actuated Variable Rolling SLIP Leg for Robust Locomotion. - Noah Paul; Adar Gaathon; Amir Degani (CLAWAR, 2022)