Toward a Bipedal Robot with Variable Gait Styles: Sagittal Forces Analysis in a Planar Simulation and a Prototype Ball-Tray Mechanism. - Umer Huzaifa; Caleb Fuller; Joshua A. Schultz; Amy LaViers (IROS, 2019)

Core-centered Actuation for Biped Locomotion of Humanoid Robots. - Caleb Fuller; Umer Huzaifa; Amy LaViers; Joshua A. Schultz (IROS, 2020)