Approximate optimal control of the compass gait on rough terrain. - Katie Byl; Russ Tedrake (ICRA, 2008)

Reliable Dynamic Motions for a Stiff Quadruped. - Katie Byl; Alexander C. Shkolnik; Sam Prentice; Nicholas Roy; Russ Tedrake (ISER, 2008)

Metastable Walking on Stochastically Rough Terrain. - Katie Byl; Russ Tedrake (Robotics: Science and Systems, 2008)

Dynamically diverse legged locomotion for rough terrain. - Katie Byl; Russ Tedrake (ICRA, 2009)

Metastable Walking Machines. - Katie Byl; Russ Tedrake (Int. J. Robotics Res., 2009)

Analysis of a tunable impedance method for practical control of insect-inspired flapping-wing MAVs. - Hosein Mahjoubi; Katie Byl (CDC/ECC, 2011)

Analysis and control techniques for the compass gait with a torso walking on stochastically rough terrain. - Min-Yi Chen; Katie Byl (ACC, 2012)

Steering and horizontal motion control in insect-inspired flapping-wing MAVs: The tunable impedance approach. - Hosein Mahjoubi; Katie Byl (ACC, 2012)

Tunable impedance: A semi-passive approach to practical motion control of insect-inspired MAVs. - Hosein Mahjoubi; Katie Byl (ICRA, 2012)

Dominant sources of variability in passive walking. - D. P. Thrishantha Nanayakkara; Katie Byl; Hongbin Liu 001; Xiaojing Song; Tim Villabona (ICRA, 2012)

Enforced symmetry of the stance phase for the Spring-Loaded Inverted Pendulum. - Giulia Piovan; Katie Byl (ICRA, 2012)

Feature-based terrain classification for LittleDog. - Paul Filitchkin; Katie Byl (IROS, 2012)

Nonlinear model predictive control for rough-terrain robot hopping. - Martin Rutschmann; Brian W. Satzinger; Marten Byl; Katie Byl (IROS, 2012)

Series-elastic actuation prototype for rough terrain hopping. - Katie Byl; Marten Byl; Martin Rutschmann; Brian W. Satzinger; Louis van Blarigan; Giulia Piovan; Jason Cortell (TePRA, 2012)

Trajectory tracking in the sagittal plane: Decoupled lift/thrust control via tunable impedance approach in flapping-wing MAVs. - Hosein Mahjoubi; Katie Byl (ACC, 2013)

Switching policies for metastable walking. - Cenk Oguz Saglam; Katie Byl (CDC, 2013)

Two-element control for the active SLIP model. - Giulia Piovan; Katie Byl (ICRA, 2013)

Stability and gait transition of the five-link biped on stochastically rough terrain using a discrete set of sliding mode controllers. - Cenk Oguz Saglam; Katie Byl (ICRA, 2013)

Increased robustness of humanoid standing balance in the sagittal plane through adaptive joint torque reduction. - Markus Giftthaler; Katie Byl (IROS, 2013)

Modeling Synchronous Muscle Function in Insect Flight: a Bio-Inspired Approach to Force Control in Flapping-Wing MAVs. - Hosein Mahjoubi; Katie Byl (J. Intell. Robotic Syst., 2013)

Dynamics of insect-inspired flapping-wing MAVs: Multibody modeling and flight control simulations. - Hosein Mahjoubi; Katie Byl (ACC, 2014)

Metastable Markov chains. - Cenk Oguz Saglam; Katie Byl (CDC, 2014)

Lyapunov-based versus Poincaré map analysis of the rimless wheel. - Cenk Oguz Saglam; Andrew R. Teel; Katie Byl (CDC, 2014)

A higher order partial feedback linearization based method for controlling an underactuated hopping robot with a compliant leg. - Pat Terry; Katie Byl (CDC, 2014)

Quantifying the trade-offs between stability versus energy use for underactuated biped walking. - Cenk Oguz Saglam; Katie Byl (IROS, 2014)

More solutions means more problems: Resolving kinematic redundancy in robot locomotion on complex terrain. - Brian W. Satzinger; Jason I. Reid; Max Bajracharya; Paul Hebert; Katie Byl (IROS, 2014)

Experimental Results for Dexterous Quadruped Locomotion Planning with RoboSimian. - Brian W. Satzinger; Chelsea Lau; Marten Byl; Katie Byl (ISER, 2014)

Robust Policies via Meshing for Metastable Rough Terrain Walking. - Cenk Oguz Saglam; Katie Byl (Robotics: Science and Systems, 2014)

First Passage Value. - Cenk Oguz Saglam; Katie Byl (CoRR, 2014)

Efficient Flight Control via Mechanical Impedance Manipulation: Energy Analyses for Hummingbird-Inspired MAVs. - Hosein Mahjoubi; Katie Byl (J. Intell. Robotic Syst., 2014)

CoM control for underactuated 2D hopping robots with series-elastic actuation via higher order Partial Feedback Linearization. - Pat Terry; Katie Byl (CDC, 2015)

Meshing hybrid zero dynamics for rough terrain walking. - Cenk Oguz Saglam; Katie Byl (ICRA, 2015)

Passive frontal plane coupling in 3D walking. - Sebastian E. Sovero; Cenk Oguz Saglam; Katie Byl (IROS, 2015)

Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain. - Cenk Oguz Saglam; Katie Byl (ISRR (2), 2015)

Design of fast walking with one- versus two-at-a-time swing leg motions for RoboSimian. - Katie Byl; Marten Byl (TePRA, 2015)

Smooth RRT-connect: An extension of RRT-connect for practical use in robots. - Chelsea Lau; Katie Byl (TePRA, 2015)

Reachability-based control for the active SLIP model. - Giulia Piovan; Katie Byl (Int. J. Robotics Res., 2015)

Tractable locomotion planning for RoboSimian. - Brian W. Satzinger; Chelsea Lau; Marten Byl; Katie Byl (Int. J. Robotics Res., 2015)

Mobile Manipulation and Mobility as Manipulation - Design and Algorithms of RoboSimian. - Paul Hebert; Max Bajracharya; Jeremy Ma; Nicolas Hudson; Alper Aydemir; Jason I. Reid; Charles Bergh; James Borders; Matthew A. Frost; Michael Hagman; John Leichty; Paul Backes; et al. (J. Field Robotics, 2015)

Tools for the design of stable yet nonsteady bounding control. - Virgile Paris; Tom Strizic; Jason L. Pusey; Katie Byl (ACC, 2016)

Towards precise control of hoppers: Using high order partial feedback linearization to control the hopping robot FRANK. - Pat Terry; Giulia Piovan; Katie Byl (CDC, 2016)

Initial Data and Theory for a High Specific-Power Ankle Exoskeleton Device. - Sebastian E. Sovero; Nihar Talele; Collin S. Smith; Nicholas Cox; Tim Swift; Katie Byl (ISER, 2016)

Approximation and Control of the SLIP Model Dynamics via Partial Feedback Linearization and Two-Element Leg Actuation Strategy. - Giulia Piovan; Katie Byl (IEEE Trans. Robotics, 2016)

Mesh-based switching control for robust and agile dynamic gaits. - Katie Byl; Tom Strizic; Jason L. Pusey (ACC, 2017)

Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals. - Sisir Karumanchi; Kyle Edelberg; Ian Baldwin; Jeremy Nash; Jason I. Reid; Charles Bergh; John Leichty; Kalind C. Carpenter; Matthew Shekels; Matthew Gildner; David Newill-Smith; Jason Carlton; et al. (J. Field Robotics, 2017)

Design and Evaluation of Skating Motions for a Dexterous Quadruped. - Guillaume Bellegarda; Kees van Teeffelen; Katie Byl (ICRA, 2018)

Nonintuitive Optima for Dynamic Locomotion: The Acrollbot. - Guillaume Bellegarda; Nihar Talele; Katie Byl (ICRA, 2018)

Toward Efficient and Robust Biped Walking Optimization. - Nihar Talele; Katie Byl (CoRR, 2018)

Mesh-based Methods for Quantifying and Improving Robustness of a Planar Biped Model to Random Push Disturbances. - Nihar Talele; Katie Byl (ACC, 2019)

Methods and Performance Analyses for Design and Feedback Control of Efficient and Robust Planar Biped Walking. - Nihar Talele; Katie Byl (ACC, 2019)

Trajectory Optimization for a Wheel-Legged System for Dynamic Maneuvers that Allow for Wheel Slip. - Guillaume Bellegarda; Katie Byl (CDC, 2019)

Training in Task Space to Speed Up and Guide Reinforcement Learning. - Guillaume Bellegarda; Katie Byl (IROS, 2019)

Mesh-based Tools to Analyze Deep Reinforcement Learning Policies for Underactuated Biped Locomotion. - Nihar Talele; Katie Byl (CoRR, 2019)

Combining Benefits from Trajectory Optimization and Deep Reinforcement Learning. - Guillaume Bellegarda; Katie Byl (CoRR, 2019)

Combining Deep Reinforcement Learning And Local Control For The Acrobot Swing-up And Balance Task. - Sean Gillen; Marco Molnar; Katie Byl (CDC, 2020)

Explicitly Encouraging Low Fractional Dimensional Trajectories Via Reinforcement Learning. - Sean Gillen; Katie Byl (CoRL, 2020)

Versatile Trajectory Optimization Using a LCP Wheel Model for Dynamic Vehicle Maneuvers. - Guillaume Bellegarda; Katie Byl (ICRA, 2020)

An Online Training Method for Augmenting MPC with Deep Reinforcement Learning. - Guillaume Bellegarda; Katie Byl (IROS, 2020)

Mesh Based Analysis of Low Fractal Dimension ReinforcementLearning Policies. - Sean Gillen; Katie Byl (CoRR, 2020)

Mesh Based Analysis of Low Fractal Dimension Reinforcement Learning Policies. - Sean Gillen; Katie Byl (ICRA, 2021)

Direct Random Search for Fine Tuning of Deep Reinforcement Learning Policies. - Sean Gillen; Asutay Ozmen; Katie Byl (CoRR, 2021)

Leveraging Reward Gradients For Reinforcement Learning in Differentiable Physics Simulations. - Sean Gillen; Katie Byl (CoRR, 2022)

Experiment Design with Gaussian Process Regression with Applications to Chance-Constrained Control. - Sean Anderson; Katie Byl; João Pedro Hespanha (CDC, 2023)

Learning Transferable Friction Models and LuGre Identification via Physics Informed Neural Networks. - Asutay Ozmen; João Pedro Hespanha; Katie Byl (CoRR, 2025)