Quadratic program based nonlinear embedded control of series elastic actuators. - Aaron D. Ames; James Holley (CDC, 2014)

Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators. - Joshua S. Mehling; James Holley; Marcia K. O'Malley (IROS, 2015)

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)

A method for evaluating humanoid robots using anthropometric and biomechanical data. - Nicholas Thoma; James Holley; William K. Verdeyen (Humanoids, 2017)

Thermal Recovery of Multi-Limbed Robots With Electric Actuators. - Steven Jens Jorgensen; James Holley; Frank Mathis; Joshua S. Mehling; Luis Sentis (IEEE Robotics Autom. Lett., 2019)