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Mosadeghzad M, Li Z, Tsagarakis NG, Medrano-Cerda G, Dallali H, Caldwell DG. Optimal Ankle Compliance Regulation for Humanoid Balancing Control”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2013, pp 4118-4123. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. ; 2013.

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Dallali H, Kormushev P, Li Z, Caldwell DG. On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning. Journal of Cybernetics and Information Technologies. 2012 ;vol. 12, no. 3:pp. 39-52.

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