Two steps is enough: No need to plan far ahead for walking balance. - Petr Zaytsev; S. Javad Hasaneini; Andy Ruina (ICRA, 2015)

RAMone: A planar biped for studying the energetics of gait. - Nils Smit-Anseeuw; Rodney Gleason; Petr Zaytsev; C. David Remy (IROS, 2017)

Learning Stable and Energetically Economical Walking with RAMone. - Audrow Nash; Yu-Ming Chen; Nils Smit-Anseeuw; Petr Zaytsev; C. David Remy (CoRR, 2017)

The Boundaries of Walking Stability: Viability and Controllability of Simple Models. - Petr Zaytsev; Wouter Wolfslag; Andy Ruina (IEEE Trans. Robotics, 2018)

Effects of Foot Stiffness and Damping on Walking Robot Performance. - Ethan Schumann; Nils Smit-Anseeuw; Petr Zaytsev; Rodney Gleason; K. Alex Shorter; C. David Remy (ICRA, 2019)