A walking prescription for statically-stable walkers based on walker/terrain interaction. - Peter V. Nagy; William L. Whittaker; Subhas Desa (ICRA, 1992)

Energy-Based Stability Measures for Reliable Locomotion of Statically Stable Walkers: Theory and Application. - Peter V. Nagy; Subhas Desa; William L. Whittaker (Int. J. Robotics Res., 1994)

Northern Illinois University autonomous mobile robots. - Peter V. Nagy; Thomas Bock (Mobile Robots, 1995)