Sharing bears. - Steven Ford (SIGGRAPH Computer Animation Festival, 2006)

Online calibration of a compact series elastic actuator. - Steven Ford; David Rollinson; Andrew Willig; Howie Choset (ACC, 2014)

Design and architecture of a series elastic snake robot. - David Rollinson; Yigit Bilgen; Ben Brown; Florian Enner; Steven Ford; Curtis Layton; Justine Rembisz; Michael Schwerin; Andrew Willig; Pras Velagapudi; Howie Choset (IROS, 2014)