Robust spring mass model running for a physical bipedal robot. - William C. Martin; Albert Wu; Hartmut Geyer (ICRA, 2015)

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. - Quan Nguyen 004; Ayush Agrawal; Xingye Da; William C. Martin; Hartmut Geyer; Jessy W. Grizzle; Koushil Sreenath (Robotics: Science and Systems, 2017)

Experimental Evaluation of Deadbeat Running on the ATRIAS Biped. - William C. Martin; Albert Wu; Hartmut Geyer (IEEE Robotics Autom. Lett., 2017)

Bayesian Optimization Using Domain Knowledge on the ATRIAS Biped. - Akshara Rai; Rika Antonova; Seungmoon Song; William C. Martin; Hartmut Geyer; Christopher G. Atkeson (ICRA, 2018)

Dynamic bipedal locomotion over stochastic discrete terrain. - Quan Nguyen 004; Ayush Agrawal; William C. Martin; Hartmut Geyer; Koushil Sreenath (Int. J. Robotics Res., 2018)

Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. - Christian Hubicki; Andy Abate; Patrick Clary; Siavash Rezazadeh; Mikhail S. Jones; Andrew Peekema; Johnathan Van Why; Ryan Domres; Albert Wu; William C. Martin; Hartmut Geyer; Jonathan W. Hurst (IEEE Robotics Autom. Mag., 2018)

Optimal Control of Compliant Bipedal Gaits and Their Implementation on Robot Hardware. - William C. Martin (2019)