humanoids Multicontact Whole Body Planning IEEE Humanoids (2024) Whole Body Control using Rolling Contact Joints IEEE SII (2025), IEEE Humanoids (2023), Frontiers in Robotics and AI (2023) Sensitivity in Multicontact Balance Stability Boundary ASME-JMR (2018), ASME-IDETC (2018), ASME-IDETC (2017) exoskeletons Exokeleton Development Journal of NeuroEngineering and Rehabilitation (2022) quadrupeds Balance Control of Robots with Point Feet IROS 2020 mobile base Design and Integration of Person Carrying Robot ASME-IDETC (2023)