Self learning of gravity compensation by LOCH humanoid robot. - Ming Xie; Z. W. Zhong; L. Zhang; H. J. Yang; C. S. Song; J. Li; L. B. Xian; L. Wang (Humanoids, 2008)

Design of Human-Like Leg-Foot for Human-Assisted Biped Walking. - L. B. Xian; M. Xie (ICIRA (1), 2008)

A deterministic way of planning and controlling biped walking of LOCH humanoid robot. - Ming Xie; Z. W. Zhong; L. Zhang; L. B. Xian; L. Wang; H. J. Yang; C. S. Song; J. Li (Ind. Robot, 2009)