Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. - Adrian B. Ghansah; Jeeseop Kim; Maegan Tucker; Aaron D. Ames (CDC, 2023)

Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. - Adrian B. Ghansah; Jeeseop Kim; Kejun Li; Aaron D. Ames (IROS, 2024)

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. - Sergio A. Esteban; Vince Kurtz; Adrian B. Ghansah; Aaron D. Ames (CoRR, 2025)

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models. - Lizhi Yang; Blake Werner; Adrian B. Ghansah; Aaron D. Ames (CoRR, 2025)