A passive dynamic quadruped that moves in a large variety of gaits. - Zhenyu Gan; C. David Remy (IROS, 2014)

The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control. - Tom Cnops; Zhenyu Gan; C. David Remy (IROS, 2015)

A novel variable transmission with digital hydraulics. - Zhenyu Gan; Katelyn Fry; R. Brent Gillespie; C. David Remy (IROS, 2015)

Optimal configuration of series and parallel elasticity in a 2D Monoped. - Yevgeniy Yesilevskiy; Zhenyu Gan; C. David Remy (ICRA, 2016)

On the Dynamic Similarity Between Bipeds and Quadrupeds: A Case Study on Bounding. - Zhenyu Gan; Ziyuan Jiao; C. David Remy (IEEE Robotics Autom. Lett., 2018)

Toward Controllable Hydraulic Coupling of Joints in a Wearable Robot. - Emma Treadway; Zhenyu Gan; C. David Remy; R. Brent Gillespie (IEEE Trans. Robotics, 2018)

Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design. - Jinsun Liu; Pengcheng Zhao; Zhenyu Gan; Matthew Johnson-Roberson; Ram Vasudevan (ICRA, 2020)

Practice Makes Perfect: an iterative approach to achieve precise tracking for legged robots. - Jing Cheng; Yasser G. Alqaham; Amit K. Sanyal; Zhenyu Gan (ACC, 2023)

Breaking Symmetries Leads to Diverse Quadrupedal Gaits. - Jiayu Ding; Amit K. Sanyal; Zhenyu Gan (CoRR, 2023)

Energetic Analysis on the Optimal Bounding Gaits of Quadrupedal Robots. - Yasser G. Alqaham; Jing Cheng; Zhenyu Gan (CoRR, 2023)

Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots. - Jing Cheng; Yasser G. Alqaham; Zhenyu Gan (IROS, 2024)

Leveraging Symmetries in Gaits for Reinforcement Learning: A Case Study on Quadrupedal Gaits. - Jiayu Ding; Xulin Chen; Garrett E. Katz; Zhenyu Gan (CoRR, 2024)

Breaking Symmetries Leads to Diverse Quadrupedal Gaits. - Jiayu Ding; Zhenyu Gan (IEEE Robotics Autom. Lett., 2024)

Energy-Optimal Asymmetrical Gait Selection for Quadrupedal Robots. - Yasser G. Alqaham; Jing Cheng; Zhenyu Gan (IEEE Robotics Autom. Lett., 2024)

Refining Motion for Peak Performance: Identifying Optimal Gait Parameters for Energy-Efficient Quadrupedal Bounding. - Yasser G. Alqaham; Jing Cheng; Zhenyu Gan (ACC, 2025)

A Multi-task Learning Framework for Carotid Plaque Area Measurement in Imbalanced Datasets. - Xinyan Fan; Zhenyu Gan; Jiyu Tao; Xinyao Cheng; Ji Wang; Ran Zhou 002; Zhongwei Huang; Haitao Gan (ICIC (17), 2025)

Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion. - Jiayu Ding; Rohit Jakkula; Tom Xiao; Zhenyu Gan (CoRR, 2025)

16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits. - Yasser G. Alqaham; Jing Cheng; Zhenyu Gan (CoRR, 2025)

Iteratively Learning Muscle Memory for Legged Robots to Master Adaptive and High Precision Locomotion. - Jing Cheng; Yasser G. Alqaham; Zhenyu Gan; Amit K. Sanyal (CoRR, 2025)

Gait Transitions in Load-Pulling Quadrupeds: Insights from Sled Dogs and a Minimal SLIP Model. - Jiayu Ding; Benjamin Seleb; M. Saad Bhamla; Zhenyu Gan (CoRR, 2025)