Time-Scaling Trajectories of Passive-Dynamic Bipedal Robots. - Jonathan K. Holm; Dongjun Lee; Mark W. Spong (ICRA, 2007)

Passivity-Based Control of Bipedal Locomotion. - Mark W. Spong; Jonathan K. Holm; Dongjun Lee (IEEE Robotics Autom. Mag., 2007)

Kinetic energy shaping for gait regulation of underactuated bipeds. - Jonathan K. Holm; Mark W. Spong (CCA, 2008)