Design and Control of a Tunable Compliance Actuator. - Victoria A. Webster; Ronald Leibach; Alexander Jacob Hunt; Richard J. Bachmann; Roger D. Quinn (Living Machines, 2014)

Mechanical Improvements to TCERA, a Tunable Compliant Energy Return Actuator. - Ronald Leibach; Victoria A. Webster; Richard J. Bachmann; Roger D. Quinn (Living Machines, 2015)

Speedy Whegs Climbs Obstacles Slowly and Runs at 44 km/hour. - William A. Breckwoldt; Richard J. Bachmann; Ronald Leibach; Roger D. Quinn (Living Machines, 2019)