The Soft-Landing Problem: Minimizing Energy Loss by a Legged Robot Impacting Yielding Terrain. - Daniel J. Lynch; Kevin M. Lynch; Paul B. Umbanhowar (IEEE Robotics Autom. Lett., 2020)

Efficient, Responsive, and Robust Hopping on Deformable Terrain. - Daniel J. Lynch; Jason L. Pusey; Sean W. Gart; Paul B. Umbanhowar; Kevin M. Lynch (IEEE Trans. Robotics, 2025)