The Yobotics-IHMC Lower Body Humanoid Robot. - Jerry E. Pratt; Benjamin T. Krupp; Victor Ragusila; John R. Rebula; Twan Koolen; Niels van Nieuwenhuizen; Christopher Shake; Travis Craig; John Taylor; Greg Watkins; Peter D. Neuhaus; Matthew Johnson 001; et al. (IROS, 2009)

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)

Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. - Johannes Englsberger; Twan Koolen; Sylvain Bertrand; Jerry E. Pratt; Christian Ott 001; Alin Albu-Schäffer (IROS, 2014)

An Architecture for Online Affordance-based Perception and Whole-body Planning. - Maurice F. Fallon; Scott Kuindersma; Sisir Karumanchi; Matthew E. Antone; Toby Schneider; Hongkai Dai; Claudia Pérez-D'Arpino; Robin Deits; Matt DiCicco; Dehann Fourie; Twan Koolen; Pat Marion; et al. (J. Field Robotics, 2015)

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)

Balance control using center of mass height variation: Limitations imposed by unilateral contact. - Twan Koolen; Michael Posa; Russ Tedrake (Humanoids, 2016)

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot. - Scott Kuindersma; Robin Deits; Maurice F. Fallon; Andres Valenzuela; Hongkai Dai; Frank Permenter; Twan Koolen; Pat Marion; Russ Tedrake (Auton. Robots, 2016)

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)

Balancing and Step Recovery Capturability via Sums-of-Squares Optimization. - Michael Posa; Twan Koolen; Russ Tedrake (Robotics: Science and Systems, 2017)

Director: A User Interface Designed for Robot Operation with Shared Autonomy. - Pat Marion; Maurice F. Fallon; Robin Deits; Andres Valenzuela; Claudia Pérez-D'Arpino; Greg Izatt; Lucas Manuelli; Matthew E. Antone; Hongkai Dai; Twan Koolen; John Carter; Scott Kuindersma; et al. (J. Field Robotics, 2017)

LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers. - Robin Deits; Twan Koolen; Russ Tedrake (ICRA, 2019)

Julia for robotics: simulation and real-time control in a high-level programming language. - Twan Koolen; Robin Deits (ICRA, 2019)

Benchmarking and Workload Analysis of Robot Dynamics Algorithms. - Sabrina M. Neuman; Twan Koolen; Jules Drean; Jason E. Miller; Srinivas Devadas (IROS, 2019)