Geometric Mechanics of Simultaneous Nonslip Contact in a Planar Quadruped. - Hari Krishna Hari Prasad; Kaushik Jayaram (CoRR, 2023)

Geometric Mechanics of Contact-Switching Systems. - Hari Krishna Hari Prasad; Ross L. Hatton; Kaushik Jayaram (IEEE Robotics Autom. Lett., 2023)

Geometrically Modulable Gait Design for Quadrupeds. - Hari Krishna Hari Prasad; Ross L. Hatton; Kaushik Jayaram (IEEE Robotics Autom. Lett., 2024)