Validating Robotics Simulators on Real-World Impacts. - Brian Acosta; William Yang; Michael Posa (IEEE Robotics Autom. Lett., 2022)

Bipedal Walking on Constrained Footholds with MPC Footstep Control. - Brian Acosta; Michael Posa (Humanoids, 2023)

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain. - Brian Acosta; Michael Posa (IEEE Trans. Robotics, 2025)