Control of a walking biped using a combination of simple policies. - Eric C. Whitman; Christopher G. Atkeson (Humanoids, 2009)

Control of Instantaneously Coupled Systems applied to humanoid walking. - Eric C. Whitman; Christopher G. Atkeson (Humanoids, 2010)

Whole-body trajectory optimization for humanoid falling. - Jiuguang Wang; Eric C. Whitman; Mike Stilman (ACC, 2012)

Multiple model robust dynamic programming. - Eric C. Whitman; Christopher G. Atkeson (ACC, 2012)

Torso rotation for push recovery using a simple change of variables. - Eric C. Whitman; Benjamin J. Stephens; Christopher G. Atkeson (Humanoids, 2012)

Optimization based full body control for the atlas robot. - Siyuan Feng 003; Eric C. Whitman; X. Xinjilefu 001; Christopher G. Atkeson (Humanoids, 2014)

Human-in-the-loop Control of a Humanoid Robot for Disaster Response: A Report from the DARPA Robotics Challenge Trials. - Mathew DeDonato; Velin D. Dimitrov; Ruixiang Du; Ryan Giovacchini; Kevin Knoedler; Xianchao Long; Felipe Polido; Michael A. Gennert; Taskin Padir; Siyuan Feng 003; Hirotaka Moriguchi; Eric C. Whitman; et al. (J. Field Robotics, 2015)

Optimization-based Full Body Control for the DARPA Robotics Challenge. - Siyuan Feng 003; Eric C. Whitman; X. Xinjilefu 001; Christopher G. Atkeson (J. Field Robotics, 2015)

Coordination of Multiple Dynamic Programming Policies for Control of BipedalWalking. - Eric C. Whitman (2017)