Simulation of contact using a nonlinear damping model. - Duane W. Marhefka; David E. Orin (ICRA, 1996)

XAnimate: an educational tool for robot graphical simulation. - Duane W. Marhefka; David E. Orin (IEEE Robotics Autom. Mag., 1996)

Gait planning for energy efficiency in walking machines. - Duane W. Marhefka; David E. Orin (ICRA, 1997)

Quadratic Optimization of Force Distribution in Walking Machines. - Duane W. Marhefka; David E. Orin (ICRA, 1998)

A compliant contact model with nonlinear damping for simulation of robotic systems. - Duane W. Marhefka; David E. Orin (IEEE Trans. Syst. Man Cybern. Part A, 1999)

Fuzzy Control of Quadrupedal Running. - Duane W. Marhefka; David E. Orin (ICRA, 2000)

Teaching Future Verification Engineers: The Forgotten Side of Logic Design. - Füsun Özgüner; Duane W. Marhefka; Joanne DeGroat; Bruce Wile; Jennifer Stofer; Lyle Hanrahan (DAC, 2001)

Intelligent control of an experimental articulated leg for a galloping machine. - Luther R. Palmer; David E. Orin; Duane W. Marhefka; James P. Schmiedeler; Kenneth J. Waldron (ICRA, 2003)

Hybrid kinematic and dynamic simulation of running machines. - Wei Hu; Duane W. Marhefka; David E. Orin (IEEE Trans. Robotics, 2005)