Swing-up control of the acrobot: An impulse-momentum approach. - Rouhollah Jafari; Frank B. Mathis; Ranjan Mukherjee (ACC, 2011)

Efficient swing-up of the acrobot using continuous torque and impulsive braking. - Frank B. Mathis; Rouhollah Jafari; Ranjan Mukherjee (ACC, 2011)

Apex height control of a two-mass hopping robot. - Frank B. Mathis; Ranjan Mukherjee (ICRA, 2013)

Apex height control of a four-link hopping robot. - Frank B. Mathis; Ranjan Mukherjee (IROS, 2013)

Active sliding synthetic wheel biped. - Kyle J. Crayne; Frank B. Mathis; Ranjan Mukherjee (ACC, 2014)

Enlarging the Region of Attraction of Equilibria of Underactuated Systems Using Impulsive Inputs. - Rouhollah Jafari; Frank B. Mathis; Ranjan Mukherjee; Hassan K. Khalil (IEEE Trans. Control. Syst. Technol., 2016)