C-curves: An extension of cubic curves. - Zhang Jiwen (Comput. Aided Geom. Des., 1996)

Footstep Planning for Rapid Path Following in Humanoid Robots. - Zhang Jiwen; Liu Li; Ken Chen (Int. J. Humanoid Robotics, 2016)

Footstep adaptation strategy for reactive omnidirectional walking in humanoid robots. - Zhang Jiwen; Zeyang Xia; Li Liu; Ken Chen (Robotica, 2018)