Non-uniform sampling period of the discrete PID controller and its performance indexes in case of the FLHex robot leg. - Piotr Burzynski (MMAR, 2021)

Discrete fractional order PID controller in case of the FLHex robot leg position control system. - Piotr Burzynski (MMAR, 2022)

Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion. - Piotr Burzynski; Ewa Pawluszewicz; Leszek Ambroziak; Suryansh Sharma (Sensors, 2024)