Inverse Kinematics-based Motion Planning for Underactuated Systems. - Prasun Choudhury; Benjamin J. Stephens; Kevin M. Lynch (ICRA, 2004)

Multiple balance strategies from one optimization criterion. - Christopher G. Atkeson; Benjamin J. Stephens (Humanoids, 2007)

Integral control of humanoid balance. - Benjamin J. Stephens (IROS, 2007)

Random Sampling of States in Dynamic Programming. - Christopher G. Atkeson; Benjamin J. Stephens (IEEE Trans. Syst. Man Cybern. Part B, 2008)

Modeling and control of periodic humanoid balance using the Linear Biped Model. - Benjamin J. Stephens; Christopher G. Atkeson (Humanoids, 2009)

Push Recovery by stepping for humanoid robots with force controlled joints. - Benjamin J. Stephens; Christopher G. Atkeson (Humanoids, 2010)

Dynamic Balance Force Control for compliant humanoid robots. - Benjamin J. Stephens; Christopher G. Atkeson (IROS, 2010)

Gain scheduled control of perturbed standing balance. - Dengpeng Xing; Christopher G. Atkeson; Jianbo Su; Benjamin J. Stephens (IROS, 2010)

State estimation for force-controlled humanoid balance using simple models in the presence of modeling error. - Benjamin J. Stephens (ICRA, 2011)

Torso rotation for push recovery using a simple change of variables. - Eric C. Whitman; Benjamin J. Stephens; Christopher G. Atkeson (Humanoids, 2012)