Combining control design tools - from modeling to implementation. - Christian Ridderström; Johan Ingvast; Jan Wikander (ICRA, 2001)

Quadruped posture control based on simple force distribution-a notion and a trial. - Christian Ridderström; Johan Ingvast (IROS, 2001)

Stability of Statically Balanced Stances for Legged Robots with Compliance. - Christian Ridderström (ICRA, 2002)

The PVT, an Elastic Conservative Transmission. - Johan Ingvast; Jan Wikander; Christian Ridderström (Int. J. Robotics Res., 2006)