On the effect of semielliptical foot shape on the energetic efficiency of passive bipedal gait*. - Aikaterini Smyrli; Mehdi Ghiassi; Andrés Kecskeméthy; Evangelos Papadopoulos (IROS, 2019)

A review of methods for mapping 3D rotations to one-dimensional planar rotations: analysis, comparison, and a novel efficient Quaternion-based approach. - Mehdi Ghiassi; Andrés Kecskeméthy (Robotica, 2024)