Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots. - Nicholas Paine; Joshua S. Mehling; James Holley; Nicolaus A. Radford; Gwendolyn Johnson; Chien-Liang Fok; Luis Sentis (J. Field Robotics, 2015)

Valkyrie: NASA's First Bipedal Humanoid Robot. - Nicolaus A. Radford; Philip Strawser; Kimberly A. Hambuchen; Joshua S. Mehling; William K. Verdeyen; A. Stuart Donnan; James Holley; Jairo Sanchez; Vienny Nguyen; Lyndon B. Bridgwater; Reginald Berka; Robert O. Ambrose; et al. (J. Field Robotics, 2015)

ControlIt! - A Software Framework for Whole-Body Operational Space Control. - Chien-Liang Fok; Gwendolyn Johnson; John D. Yamokoski; Aloysius K. Mok; Luis Sentis (Int. J. Humanoid Robotics, 2016)