A walking stability controller with disturbance rejection based on CMP criterion and Ground Reaction Force feedback. - Richard Beranek; Henry Fung; Mojtaba Ahmadi (IROS, 2011)

A behavior based locomotion controller with learning for disturbance compensation in bipedal robots. - Richard Beranek; Mojtaba Ahmadi (ICRA, 2012)

Fuzzy control of a log carrying robot on tree-filled steep-sloping terrains. - Richard Beranek; Aliasgar Morbi; Mojtaba Ahmadi (Paladyn J. Behav. Robotics, 2012)

Disturbance compensation in bipedal locomotion using Ground reaction force feedback and the CMP. - Richard Beranek; Henry Fung; Mojtaba Ahmadi (Int. J. Robotics Autom., 2015)

A Learning Behavior Based Controller for Maintaining Balance in Robotic Locomotion. - Richard Beranek; Mojtaba Ahmadi (J. Intell. Robotic Syst., 2016)