COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control. - Nikos G. Tsagarakis; Stephen Morfey; Gustavo A. Medrano-Cerda; Zhibin Li 001; Darwin G. Caldwell (ICRA, 2013)

An asymmetric compliant antagonistic joint design for high performance mobility. - Nikolaos G. Tsagarakis; Stephen Morfey; Houman Dallali; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (IROS, 2013)

Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance. - Barkan Ugurlu; Jody Alessandro Saglia; Nikos G. Tsagarakis; Stephen Morfey; Darwin G. Caldwell (IEEE Trans. Ind. Electron., 2014)