Optimal Reduced-order Modeling of Bipedal Locomotion. - Yu-Ming Chen 003; Michael Posa (ICRA, 2020)

Angular Center of Mass for Humanoid Robots. - Yu-Ming Chen 003; Gabriel Nelson; Robert J. Griffin; Michael Posa; Jerry E. Pratt (CoRR, 2022)

Integrable Whole-Body Orientation Coordinates for Legged Robots. - Yu-Ming Chen 003; Gabriel Nelson; Robert J. Griffin; Michael Posa; Jerry E. Pratt (IROS, 2023)

Reinforcement Learning for Reduced-order Models of Legged Robots. - Yu-Ming Chen 003; Hien Bui; Michael Posa (ICRA, 2024)

Beyond Inverted Pendulums: Task-Optimal Simple Models of Legged Locomotion. - Yu-Ming Chen 003; Jianshu Hu; Michael Posa (IEEE Trans. Robotics, 2024)