CORAL II: Linking Behavior and Structure in an IC Design System. - Robert L. Blackburn; Donald E. Thomas; Patti M. Koenig (DAC, 1988)

Generation and Control of Gait Patterns in a Simulated Horse. - Patti M. Koenig; George A. Bekey (ICRA (3), 1993)

Generation and control of lateral gaits in a horse-rider simulation. - Patti M. Koenig; George A. Bekey (IROS, 1993)