Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot. - Richard Altendorfer; Uluc Saranli; Haldun Komsuoglu; Daniel E. Koditschek; H. Benjamin Brown Jr.; Martin Buehler; Ned Moore; Dave McMordie; Robert J. Full (ISER, 2000)

Proprioception Based Behavioral Advances in a Hexapod Robot. - Haldun Komsuoglu; Dave McMordie; Uluc Saranli; Ned Moore; Martin Buehler; Daniel E. Koditschek (ICRA, 2001)

RHex: A Biologically Inspired Hexapod Runner. - Richard Altendorfer; Ned Moore; Haldun Komsuoglu; Martin Buehler; H. Benjamin Brown Jr.; Dave McMordie; Uluc Saranli; Robert J. Full; Daniel E. Koditschek (Auton. Robots, 2001)