Advanced Swing Leg Control for Stable Locomotion. - Yvonne Blum; Juergen Rummel; André Seyfarth (AMS, 2007)

From Walking to Running. - Juergen Rummel; Yvonne Blum; André Seyfarth (AMS, 2009)

Stable and robust walking with compliant legs. - Jürgen Rummel; Yvonne Blum; Horst Moritz Maus; Christian Rode; André Seyfarth (ICRA, 2010)