Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion. - Shuo Yang; Zixin Zhang 003; Zhengyu Fu; Zachary Manchester (ICRA, 2023)

Multi-IMU Proprioceptive Odometry for Legged Robots. - Shuo Yang; Zixin Zhang 003; Benjamin Bokser; Zachary Manchester (IROS, 2023)

Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots. - Zixin Zhang 003; John Z. Zhang; Shuo Yang; Zachary Manchester (CoRR, 2024)

Multi-IMU Sensor Fusion for Legged Robots. - Shuo Yang; Zixin Zhang 003; John Z. Zhang; Ibrahima Sory Sow; Zachary Manchester (CoRR, 2025)