An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion. - Jonathan W. Hurst; Joel E. Chestnutt; Alfred A. Rizzi (ICRA, 2004)

Design and Philosophy of the BiMASC, a Highly Dynamic Biped. - Jonathan W. Hurst; Joel E. Chestnutt; Alfred A. Rizzi (ICRA, 2007)

A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running. - Jonathan W. Hurst; Benjamin Morris 001; Joel E. Chestnutt; Alfred A. Rizzi (ICRA, 2007)

Series compliance for an efficient running gait. - Jonathan W. Hurst; Alfred A. Rizzi (IEEE Robotics Autom. Mag., 2008)

MABEL, a new robotic bipedal walker and runner. - J. W. Grizzle; Jonathan W. Hurst; Benjamin Morris 001; Hae-Won Park 002; Koushil Sreenath (ACC, 2009)

Optimal passive dynamics for torque/force control. - Kevin Kemper; Devin Koepl; Jonathan W. Hurst (ICRA, 2010)

The Actuator With Mechanically Adjustable Series Compliance. - Jonathan W. Hurst; Joel E. Chestnutt; Alfred A. Rizzi (IEEE Trans. Robotics, 2010)

Force control for planar spring-mass running. - Devin Koepl; Jonathan W. Hurst (IROS, 2011)

The Electric Cable Differential Leg: a Novel Design Approach for Walking and Running. - Jonathan W. Hurst (Int. J. Humanoid Robotics, 2011)

Artificial restraint Systems for Walking and Running Robots: an Overview. - Joseph S. Colett; Jonathan W. Hurst (Int. J. Humanoid Robotics, 2012)

Optimal passive dynamics for physical interaction: Throwing a mass. - Hamid Reza Vejdani; Jonathan W. Hurst (ICRA, 2013)

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. - Ayonga Hereid; Shishir Kolathaya; Mikhail S. Jones; Johnathan Van Why; Jonathan W. Hurst; Aaron D. Ames (HSCC, 2014)

From template to anchor: A novel control strategy for spring-mass running of bipedal robots. - Behnam Dadashzadeh; Hamid Reza Vejdani; Jonathan W. Hurst (IROS, 2014)

On the optimal selection of motors and transmissions for electromechanical and robotic systems. - Siavash Rezazadeh; Jonathan W. Hurst (IROS, 2014)

Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses. - Johnathan Van Why; Christian Hubicki; Mikhail S. Jones; Monica A. Daley; Jonathan W. Hurst (IROS, 2014)

Impulse Control for Planar Spring-Mass Running. - Devin Koepl; Jonathan W. Hurst (J. Intell. Robotic Syst., 2014)

Passive-dynamic leg design for agile robots. - Andy Abate; Ross L. Hatton; Jonathan W. Hurst (ICRA, 2015)

Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. - Ayonga Hereid; Christian Hubicki; Eric A. Cousineau; Jonathan W. Hurst; Aaron D. Ames (ICRA, 2015)

Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion. - Christian Hubicki; Mikhail S. Jones; Monica A. Daley; Jonathan W. Hurst (ICRA, 2015)

Toward step-by-step synthesis of stable gaits for underactuated compliant legged robots. - Siavash Rezazadeh; Jonathan W. Hurst (ICRA, 2015)

Touch-down angle control for spring-mass walking. - Hamid Reza Vejdani; Albert Wu; Hartmut Geyer; Jonathan W. Hurst (ICRA, 2015)

Exciting Engineered Passive Dynamics in a Bipedal Robot. - Daniel Renjewski; Alexander Spröwitz; Andrew Peekema; Mikhail S. Jones; Jonathan W. Hurst (IEEE Trans. Robotics, 2015)

Mechanical Antagonism in Legged Robots. - Andy Abate; Jonathan W. Hurst; Ross L. Hatton (Robotics: Science and Systems, 2016)

ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot. - Christian Hubicki; Jesse Grimes; Mikhail S. Jones; Daniel Renjewski; Alexander Spröwitz; Andy Abate; Jonathan W. Hurst (Int. J. Robotics Res., 2016)

Monte-Carlo Planning for Agile Legged Locomotion. - Patrick Clary; Pedro Morais; Alan Fern; Jonathan W. Hurst (ICAPS, 2018)

Feedback Control For Cassie With Deep Reinforcement Learning. - Zhaoming Xie; Glen Berseth; Patrick Clary; Jonathan W. Hurst; Michiel van de Panne (IROS, 2018)

Fast Online Trajectory Optimization for the Bipedal Robot Cassie. - Taylor Apgar; Patrick Clary; Kevin Green; Alan Fern; Jonathan W. Hurst (Robotics: Science and Systems, 2018)

Robot Leg Design: A Constructive Framework. - Siavash Rezazadeh; Andy Abate; Ross L. Hatton; Jonathan W. Hurst (IEEE Access, 2018)

An Overview on Principles for Energy Efficient Robot Locomotion. - Navvab Kashiri; Andy Abate; Sabrina J. Abram; Alin Albu-Schäffer; Patrick Clary; Monica A. Daley; Salman Faraji; Raphael Furnemont; Manolo Garabini; Hartmut Geyer; Alena M. Grabowski; Jonathan W. Hurst; et al. (Frontiers Robotics AI, 2018)

Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. - Christian Hubicki; Andy Abate; Patrick Clary; Siavash Rezazadeh; Mikhail S. Jones; Andrew Peekema; Johnathan Van Why; Ryan Domres; Albert Wu; William C. Martin; Hartmut Geyer; Jonathan W. Hurst (IEEE Robotics Autom. Mag., 2018)

Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real. - Zhaoming Xie; Patrick Clary; Jeremy Dao; Pedro Morais; Jonathan W. Hurst; Michiel van de Panne (CoRL, 2019)

Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits. - Mike Hector; Kevin Green; Burak Sencer; Jonathan W. Hurst (IROS, 2019)

Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie. - Zhaoming Xie; Patrick Clary; Jeremy Dao; Pedro Morais; Jonathan W. Hurst; Michiel van de Panne (CoRR, 2019)

Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. - Kevin Green; Ross L. Hatton; Jonathan W. Hurst (ICRA, 2020)

Learning Memory-Based Control for Human-Scale Bipedal Locomotion. - Jonah Siekmann; Srikar Valluri; Jeremy Dao; Lorenzo Bermillo; Helei Duan; Alan Fern; Jonathan W. Hurst (Robotics: Science and Systems, 2020)

Control of ATRIAS in three dimensions: Walking as a forced-oscillation problem. - Siavash Rezazadeh; Jonathan W. Hurst (Int. J. Robotics Res., 2020)

Learning Task Space Actions for Bipedal Locomotion. - Helei Duan; Jeremy Dao; Kevin Green; Taylor Apgar; Alan Fern; Jonathan W. Hurst (ICRA, 2021)

Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. - Jonah Siekmann; Yesh Godse; Alan Fern; Jonathan W. Hurst (ICRA, 2021)

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning. - Jonah Siekmann; Kevin Green; John Warila; Alan Fern; Jonathan W. Hurst (Robotics: Science and Systems, 2021)

Learning Spring Mass Locomotion: Guiding Policies With a Reduced-Order Model. - Kevin Green; Yesh Godse; Jeremy Dao; Ross L. Hatton; Alan Fern; Jonathan W. Hurst (IEEE Robotics Autom. Lett., 2021)

Optimizing Bipedal Maneuvers of Single Rigid-Body Models for Reinforcement Learning. - Ryan Batke; Fangzhou Yu; Jeremy Dao; Jonathan W. Hurst; Ross L. Hatton; Alan Fern; Kevin Green (Humanoids, 2022)

Dynamic Bipedal Turning through Sim-to-Real Reinforcement Learning. - Fangzhou Yu; Ryan Batke; Jeremy Dao; Jonathan W. Hurst; Kevin Green; Alan Fern (Humanoids, 2022)

Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. - Jeremy Dao; Kevin Green; Helei Duan; Alan Fern; Jonathan W. Hurst (ICRA, 2022)

Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. - Helei Duan; Ashish Malik; Jeremy Dao; Aseem Saxena; Kevin Green; Jonah Siekmann; Alan Fern; Jonathan W. Hurst (ICRA, 2022)

Learning Dynamic Bipedal Walking Across Stepping Stones. - Helei Duan; Ashish Malik; Mohitvishnu S. Gadde; Jeremy Dao; Alan Fern; Jonathan W. Hurst (IROS, 2022)

Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. - Kevin Green; John Warila; Ross L. Hatton; Jonathan W. Hurst (IROS, 2022)

Dynamic Bipedal Maneuvers through Sim-to-Real Reinforcement Learning. - Fangzhou Yu; Ryan Batke; Jeremy Dao; Jonathan W. Hurst; Kevin Green; Alan Fern (CoRR, 2022)

Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running. - Devin Crowley; Jeremy Dao; Helei Duan; Kevin Green; Jonathan W. Hurst; Alan Fern (ICRA, 2023)