Achieving periodic leg trajectories to evolve a quadruped gallop. - Darren P. Krasny; David E. Orin (ICRA, 2003)

Generating high-speed dynamic running gaits in a quadruped robot using an evolutionary search. - Darren P. Krasny; David E. Orin (IEEE Trans. Syst. Man Cybern. Part B, 2004)

A 3D Galloping Quadruped Robot. - Darren P. Krasny; David E. Orin (CLAWAR, 2005)

Evolution of Dynamic Maneuvers in a 3D Galloping Quadruped Robot. - Darren P. Krasny; David E. Orin (ICRA, 2006)

Evolution of a 3D Gallop in a Quadrupedal Model with Biological Characteristics. - Darren P. Krasny; David E. Orin (J. Intell. Robotic Syst., 2010)