Bifurcations of optimal solutions for coordinated robotic systems: Numerical and homotopy methods. - Baoyang Deng; Andres K. Valenzuela; Bill Goodwine (ICRA, 2010)

Optimally Scaled Hip-Force Planning: A control approach for quadrupedal running. - Andres K. Valenzuela; Sangbae Kim (ICRA, 2012)