A 3D passive dynamic biped with yaw and roll compensation. - Martijn Wisse; Arend L. Schwab; Richard Quint van der Linde (Robotica, 2001)

Passive dynamic walking model with upper body. - Martijn Wisse; Arend L. Schwab; Frans C. T. van der Helm (Robotica, 2004)

Skateboards, Bicycles, and Three-dimensional Biped Walking Machines: Velocity-dependent Stability by Means of Lean-to-yaw Coupling. - Martijn Wisse; Arend L. Schwab (Int. J. Robotics Res., 2005)

How to keep from falling forward: elementary swing leg action for passive dynamic walkers. - Martijn Wisse; Arend L. Schwab; Richard Quint van der Linde; Frans C. T. van der Helm (IEEE Trans. Robotics, 2005)

Adding an Upper Body to Passive Dynamic Walking Robots by Means of a Bisecting Hip Mechanism. - Martijn Wisse; Daan G. E. Hobbelen; Arend L. Schwab (IEEE Trans. Robotics, 2007)