Quadratic programming-based inverse dynamics control for legged robots with sticking and slipping frictional contacts. - Samuel Zapolsky; Evan M. Drumwright (IROS, 2014)

Adaptive integration for controlling speed vs. accuracy in multi-rigid body simulation. - Samuel Zapolsky; Evan M. Drumwright (IROS, 2015)

Particle traces for detecting divergent robot behavior. - Samuel Zapolsky; Evan M. Drumwright (Humanoids, 2016)

Fast multi-body simulations of robots controlled with error feedback. - John Shepherd 003; Samuel Zapolsky; Evan M. Drumwright (SIMPAR, 2016)

Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact. - Nima Fazeli; Samuel Zapolsky; Evan M. Drumwright; Alberto Rodriguez 003 (CoRL, 2017)

Interactive, iterative robot design. - Bradley Canaday; Samuel Zapolsky; Evan M. Drumwright (ICRA, 2017)

Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models. - Nima Fazeli; Samuel Zapolsky; Evan M. Drumwright; Alberto Rodriguez 003 (ISRR, 2017)

Inverse dynamics with rigid contact and friction. - Samuel Zapolsky; Evan M. Drumwright (Auton. Robots, 2017)

Optimizing robot model parameters for highly dynamic tasks. - Bradley Canaday; Samuel Zapolsky; Evan M. Drumwright (SIMPAR, 2018)