Passive quadrupedal bounding with a segmented flexible torso. - Qu Cao; Ioannis Poulakakis (IROS, 2012)

Passive stability and control of quadrupedal bounding with a flexible torso. - Qu Cao; Ioannis Poulakakis (IROS, 2013)

On the energetics of quadrupedal bounding with and without torso compliance. - Qu Cao; Ioannis Poulakakis (IROS, 2014)

On the control of gait transitions in quadrupedal running. - Qu Cao; Anthom T. van Rijn; Ioannis Poulakakis (IROS, 2015)

Quadrupedal running with a flexible torso: control and speed transitions with sums-of-squares verification. - Qu Cao; Ioannis Poulakakis (Artif. Life Robotics, 2016)