Modified Transpose Jacobian control of a biped robot. - S. Ali A. Moosavian; Mansoor Alghooneh; Amir Takhmar (Humanoids, 2007)

Stable trajectory planning, dynamics modeling and fuzzy regulated sliding mode control of a biped robot. - S. Ali A. Moosavian; Mansoor Alghooneh; Amir Takhmar (Humanoids, 2007)

Introducing a Cartesian approach for gate planning and control of biped robots and implementing on various slopes. - S. Ali A. Moosavian; Mansoor Alghooneh; Amir Takhmar (Humanoids, 2007)

Cartesian Approach for Gait Planning and Control of Biped Robots on Irregular Surfaces. - S. Ali A. Moosavian; Mansoor Alghooneh; Amir Takhmar (Int. J. Humanoid Robotics, 2009)

A Systematic Gait-Planning Framework Negotiating Biomechanically Motivated Characteristics of a Planar bipedal Robot. - Mansoor Alghooneh; Qiong Wu (Int. J. Humanoid Robotics, 2012)

Single-support heel-off: a crucial gait event helps realizing agile and energy-efficient bipedal walking. - Mansoor Alghooneh; Christine Qiong Wu (Robotica, 2016)