Unstable states in four-legged locomotion. - Tadej Bajd; Alojz Kralj; Tomaz Karcnik (IROS, 1994)

Timing and kinematics of quadrupedal walking pattern. - Tadej Bajd; Milos Zefran; Alojz Kralj (IROS (3), 1995)

Kinematic modeling of four-point walking patterns in paraplegic subjects. - Milos Zefran; Tadej Bajd; Alojz Kralj (IEEE Trans. Syst. Man Cybern. Part A, 1996)