Effect of toe-joint Bending on biped gait performance. - Ehsan Kouchaki; Mohammad Jafar Sadigh (ROBIO, 2010)

Effects of Constraints on standing Balance Control of a Biped with TOE-joints. - Ehsan Kouchaki; Christine Qiong Wu; Mohammad Jafar Sadigh (Int. J. Humanoid Robotics, 2012)

Balance Control of a Humanoid Robot Using DeepReinforcement Learning. - Ehsan Kouchaki; Maziar Palhang (CSICC, 2023)