Simultaneous optimization of gait and design parameters for bipedal robots. - Ulrich J. Römer; Cornelius Kuhs; Mathias J. Krause; Alexander Fidlin (ICRA, 2016)

Hybrid Zero Dynamics Control for Bipedal Walking with a Non-Instantaneous Double Support Phase. - Yinnan Luo; Ulrich J. Römer; Alexander Dyck; Marten Zirkel; Lena Zentner; Alexander Fidlin (CoRR, 2023)