Passive turning motion of 3D rimless wheel: novel periodic gaits for bipedal curved walking. - Mohammad Reza Sabaapour; Muhammad Reza Hairi Yazdi; Borhan Beigzadeh (Adv. Robotics, 2015)

Passive dynamic turning in 3D biped locomotion: an extension to passive dynamic walking. - Mohammad Reza Sabaapour; Muhammad Reza Hairi Yazdi; Borhan Beigzadeh (Adv. Robotics, 2016)

From a 3D Passive Biped Walker to a 3D Passivity-Based Controlled Robot. - Borhan Beigzadeh; Mohammad Reza Sabaapour; Muhammad Reza Hairi Yazdi; Kaamran Raahemifar (Int. J. Humanoid Robotics, 2018)

Development of a Novel Gait Rehabilitation Device with Hip Interaction and a Single DOF Mechanism. - Mohammad Reza Sabaapour; Hosu Lee; Muhammad Raheel Afzal; Amre Eizad; Jungwon Yoon 001 (ICRA, 2019)