Towards Dynamic Quadruped Locomotion: Development of a CPG-driven Foot Trajectory Generator. - Daniel Teixeira de Paula; Eduardo Paciência Godoy; Mauricio Becerra-Vargas (MED, 2022)

Dynamic modeling and simulation of a torque-controlled spatial quadruped robot. - Daniel Teixeira de Paula; Eduardo Paciência Godoy; Mauricio Becerra-Vargas (Robotica, 2024)