System overview of bipedal robots Flame and TUlip: Tailor-made for Limit Cycle Walking. - Daan G. E. Hobbelen; Tomas de Boer; Martijn Wisse (IROS, 2008)

Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models. - Twan Koolen; Tomas de Boer; John R. Rebula; Ambarish Goswami; Jerry E. Pratt (Int. J. Robotics Res., 2012)

Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid. - Jerry E. Pratt; Twan Koolen; Tomas de Boer; John R. Rebula; Sebastien Cotton; John Carff; Matthew Johnson 001; Peter D. Neuhaus (Int. J. Robotics Res., 2012)

Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials. - Matthew Johnson 001; Brandon Shrewsbury; Sylvain Bertrand; Tingfan Wu; Daniel Duran 002; Marshall Floyd; Peter Abeles; Douglas Stephen; Nathan Mertins; Alex Lesman; John Carff; William Rifenburgh; et al. (J. Field Robotics, 2015)

Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas. - Twan Koolen; Sylvain Bertrand; Gray Thomas; Tomas de Boer; Tingfan Wu; Jesper Smith; Johannes Englsberger; Jerry E. Pratt (Int. J. Humanoid Robotics, 2016)