Fast Online Trajectory Optimization for the Bipedal Robot Cassie. - Taylor Apgar; Patrick Clary; Kevin Green; Alan Fern; Jonathan W. Hurst (Robotics: Science and Systems, 2018)

Learning Task Space Actions for Bipedal Locomotion. - Helei Duan; Jeremy Dao; Kevin Green; Taylor Apgar; Alan Fern; Jonathan W. Hurst (ICRA, 2021)