Minimally Actuated Walking: Identifying Core Challenges to Economical Legged Locomotion Reveals Novel Solutions. - Ryan T. Schroeder; John E. A. Bertram (Frontiers Robotics AI, 2018)

Elastic energy savings and active energy cost in a simple model of running. - Ryan T. Schroeder; Arthur D. Kuo (PLoS Comput. Biol., 2021)