A common interface for humanoid simulation and hardware. - Robert Ellenberg; Robert M. Sherbert; Paul Y. Oh; Alex Alspach; Roy James Gross; Jun-Ho Oh (Humanoids, 2010)

Development of the skewed rotation plane (SRP) waist joint for humanoid robots. - Robert Ellenberg; Richard Vallett; Roy James Gross; Brittany Nutt; Paul Y. Oh (TePRA, 2013)