Velocity disturbance rejection for planar bipeds walking with HZD-based control. - David C. Post; James P. Schmiedeler (IROS, 2014)

Design and experimental implementation of a hybrid zero dynamics-based controller for planar bipeds with curved feet. - Anne E. Martin; David C. Post; James P. Schmiedeler (Int. J. Robotics Res., 2014)

The effects of foot geometric properties on the gait of planar bipeds walking under HZD-based control. - Anne E. Martin; David C. Post; James P. Schmiedeler (Int. J. Robotics Res., 2014)