Planar multi-contact bipedal walking using hybrid zero dynamics. - Jordan Lack; Matthew J. Powell; Aaron D. Ames (ICRA, 2014)

Integrating the effects of angular momentum and changing center of mass height in bipedal locomotion planning. - Jordan Lack (Humanoids, 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)