A higher order partial feedback linearization based method for controlling an underactuated hopping robot with a compliant leg. - Pat Terry; Katie Byl (CDC, 2014)

CoM control for underactuated 2D hopping robots with series-elastic actuation via higher order Partial Feedback Linearization. - Pat Terry; Katie Byl (CDC, 2015)

Towards precise control of hoppers: Using high order partial feedback linearization to control the hopping robot FRANK. - Pat Terry; Giulia Piovan; Katie Byl (CDC, 2016)