Enforced symmetry of the stance phase for the Spring-Loaded Inverted Pendulum. - Giulia Piovan; Katie Byl (ICRA, 2012)

Series-elastic actuation prototype for rough terrain hopping. - Katie Byl; Marten Byl; Martin Rutschmann; Brian W. Satzinger; Louis van Blarigan; Giulia Piovan; Jason Cortell (TePRA, 2012)

On Coordinate-Free Rotation Decomposition: Euler Angles About Arbitrary Axes. - Giulia Piovan; Francesco Bullo (IEEE Trans. Robotics, 2012)

Two-element control for the active SLIP model. - Giulia Piovan; Katie Byl (ICRA, 2013)

On frame and orientation localization for relative sensing networks. - Giulia Piovan; Iman Shames; Baris Fidan; Francesco Bullo; Brian D. O. Anderson (Autom., 2013)

Reachability-based control for the active SLIP model. - Giulia Piovan; Katie Byl (Int. J. Robotics Res., 2015)

Towards precise control of hoppers: Using high order partial feedback linearization to control the hopping robot FRANK. - Pat Terry; Giulia Piovan; Katie Byl (CDC, 2016)

Approximation and Control of the SLIP Model Dynamics via Partial Feedback Linearization and Two-Element Leg Actuation Strategy. - Giulia Piovan; Katie Byl (IEEE Trans. Robotics, 2016)