Optimal relative timing of stance push-off and swing leg retraction. - S. Javad Hasaneini; Chris J. B. Macnab; John E. A. Bertram; Henry Leung (IROS, 2013)

The dynamic optimization approach to locomotion dynamics: human-like gaits from a minimally-constrained biped model. - S. Javad Hasaneini; C. J. B. Macnab; John E. A. Bertram; Henry Leung (Adv. Robotics, 2013)

Swing-leg retraction efficiency in bipedal walking. - S. Javad Hasaneini; Chris J. B. Macnab; John E. A. Bertram; Henry Leung (IROS, 2014)

Energy-optimal relative timing of stance-leg push-off and swing-leg retraction in walking. - S. Javad Hasaneini; John E. A. Bertram; Chris J. B. Macnab (Robotica, 2017)

Minimally Actuated Walking: Identifying Core Challenges to Economical Legged Locomotion Reveals Novel Solutions. - Ryan T. Schroeder; John E. A. Bertram (Frontiers Robotics AI, 2018)

An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal. - Delyle T. Polet; John E. A. Bertram (PLoS Comput. Biol., 2019)