Towards a Comparative Measure of Legged Agility. - Jeffrey Duperret; Gavin D. Kenneally; Jason L. Pusey; Daniel E. Koditschek (ISER, 2014)

Leg design for energy management in an electromechanical robot. - Gavin D. Kenneally; Daniel E. Koditschek (IROS, 2015)

Design Principles for a Family of Direct-Drive Legged Robots. - Gavin D. Kenneally; Avik De; Daniel E. Koditschek (IEEE Robotics Autom. Lett., 2016)

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot. - T. Turner Topping; Gavin D. Kenneally; Daniel E. Koditschek (ICRA, 2017)

Actuator Transparency and the Energetic Cost of Proprioception. - Gavin D. Kenneally; Wei-Hsi Chen; Daniel E. Koditschek (ISER, 2018)