Natural oscillation in compass-gait biped robots. - Uzair Ijaz Khan; Zhiyong Chen 001 (AuCC, 2016)

Natural Oscillation and Optimal Gaits for Humanoid Biped Models. - Uzair Ijaz Khan; Zhiyong Chen 001 (Humanoids, 2018)

Natural gait analysis for a biped robot: jogging vs. walking. - Uzair Ijaz Khan; Zhiyong Chen 001 (Sci. China Inf. Sci., 2019)

Natural Oscillation Gait in Humanoid Biped Locomotion. - Uzair Ijaz Khan; Zhiyong Chen 001 (IEEE Trans. Control. Syst. Technol., 2020)