Discrete sliding mode control to stabilize running of a biped robot with compliant kneed legs. - Omid Heydarnia; Behnam Dadashzadeh; Akbar Allahverdizadeh; M. R. Sayyed Noorani (Autom. Control. Comput. Sci., 2017)

Modelling and optimised gait planning of biped robots with different leg mechanisms. - Behnam Dadashzadeh; Akbar Allahverdizadeh; Mehdi Azhdarzadeh (Int. J. Model. Identif. Control., 2021)