Control of foot placement, forward velocity and body orientation of a one-legged hopping robot. - Jimmy Vermeulen; Dirk Lefeber; Björn Verrelst (Robotica, 2003)

Dynamic Control of a Bipedal Walking Robot actuated with Pneumatic Artificial Muscles. - Bram Vanderborght; Björn Verrelst; Ronald Van Ham; Jimmy Vermeulen; Dirk Lefeber (ICRA, 2005)

The Pneumatic Biped "Lucy" Actuated with Pleated Pneumatic Artificial Muscles. - Björn Verrelst; Ronald Van Ham; Bram Vanderborght; Frank Daerden; Dirk Lefeber; Jimmy Vermeulen (Auton. Robots, 2005)

A real-time joint trajectory planner for dynamic walking bipeds in the sagittal plane. - Jimmy Vermeulen; Björn Verrelst; Dirk Lefeber; Patrick Kool; Bram Vanderborght (Robotica, 2005)

Exploiting adaptable passive behaviour to influence natural dynamics applied to legged robots. - Björn Verrelst; Ronald Van Ham; Bram Vanderborght; Jimmy Vermeulen; Dirk Lefeber; Frank Daerden (Robotica, 2005)

Motion Generation and Control for the Pneumatic Biped "Lucy". - Björn Verrelst; Jimmy Vermeulen; Bram Vanderborght; Ronald Van Ham; Joris Naudet; Dirk Lefeber; Frank Daerden; Michaël Van Damme (Int. J. Humanoid Robotics, 2006)

Trajectory Planning for the Walking Biped "Lucy". - Jimmy Vermeulen; Björn Verrelst; Bram Vanderborght; Dirk Lefeber; Patrick Guillaume (Int. J. Robotics Res., 2006)