Optimal passive dynamics for torque/force control. - Kevin Kemper; Devin Koepl; Jonathan W. Hurst (ICRA, 2010)

Force control for planar spring-mass running. - Devin Koepl; Jonathan W. Hurst (IROS, 2011)

Impulse Control for Planar Spring-Mass Running. - Devin Koepl; Jonathan W. Hurst (J. Intell. Robotic Syst., 2014)