SCOUT: A Simple Quadruped that Walks, Climbs and Runs. - Martin Buehler; Robert Battaglia; Anca Cocosco; Geoff Hawker; Joseph Sarkis; Kenneth S. Yamazaki (ICRA, 1998)

Stable Open Loop Walking in Quadruped Robots with Stick Legs. - Martin Buehler; Anca Cocosco; Kenneth S. Yamazaki; Robert Battaglia (ICRA, 1999)