Control of Forward Velocity for a Simplyfied Planar Hopping Robot. - William J. Schwind; Daniel E. Koditschek (ICRA, 1995)

Characterization of monoped equilibrium gaits. - William J. Schwind; Daniel E. Koditschek (ICRA, 1997)

Toward the Control of a Multi-Jointed, Monoped Runner. - Uluc Saranli; William J. Schwind; Daniel E. Koditschek (ICRA, 1998)

Approximating the Stance Map of a 2-DOF Monoped Runner. - William J. Schwind; Daniel E. Koditschek (J. Nonlinear Sci., 2000)