On the Stability of Bipedal Walking. - Pieter van Zutven; Dragan Kostic; Henk Nijmeijer (SIMPAR, 2010)

Foot placement for planar bipeds with point feet. - Pieter van Zutven; Dragan Kostic; Henk Nijmeijer (ICRA, 2012)

Qualitative validation of humanoid robot models through balance recovery side-stepping experiments. - Tim Assman; Pieter van Zutven; Henk Nijmeijer (ICRA, 2013)

Model parameter estimation of humanoid robots using static contact force measurements. - Jos Baelemans; Pieter van Zutven; Henk Nijmeijer (SSRR, 2013)