Optimal control for maximizing potential energy in a variable stiffness joint. - Sami Haddadin; Mehmet Can Ozparpucu; Alin Albu-Schäffer (CDC, 2012)

Optimal control for maximizing link velocity of visco-elastic joints. - Mehmet Can Ozparpucu; Sami Haddadin (IROS, 2013)

Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time. - Sami Haddadin; Roman Weitschat; Felix Huber; Mehmet Can Özparpucu; Nico Mansfeld; Alin Albu-Schäffer (ISRR, 2013)

Optimal control strategies for maximizing the performance of Variable Stiffness Joints with nonlinear springs. - Mehmet Can Ozparpucu; Alin Albu-Schäffer (CDC, 2014)

Optimal control of elastic joints with variable damping. - Mehmet Can Ozparpucu; Sami Haddadin (ECC, 2014)

Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency. - Philipp Stratmann; Dominic Lakatos; Mehmet Can Özparpucu; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2017)

Second-Order Necessary Conditions for Optimal Control Problems with Fixed Terminal Time and Free Terminal State. - Mehmet Can Özparpucu (CDC, 2019)