Journal Articles
A. Abarghooei and M. Ahmadi, 鈥淒riving Behavior Classification and Risk Quantification via Multisensor Machine Learning: From Simulation to Reality,鈥 in IEEE Transactions on Instrumentation and Measurement, vol. 75, pp. 1-12, 2026.
Masoud Karimi, Mojtaba Ahmadi, 鈥渋LeAD: Adaptive Shared Control in Exoskeletal Assistive Devices via Deep Reinforcement Learning,鈥 IEEE Transactions on Artificial Intelligence, Vol. 7(25), pp. 1鈥13, 2025.
N. Berezny, M. Ahmadi, 鈥淚mproving Robotic Force Control Performance in Devices with Force Measurement Error and Modelling Error,鈥 IEEE Transactions on Instrumentation and Measurement, Vol. 74, 2025.
S. Sadat Hosseini, A. Samiei, M. Ahmadi, 鈥淕enetic Algorithm-Optimized Feature Selection for sEMG-IMU Fusion Improves Intention Detection in AI-Driven Robotic Walking System,鈥 IEEE Transactions on Medical Robotics and Bionics, Vol. 7(3), pp. 1212鈥1224, 2025.
Hussein Naser, Hashim Mohammad, Mojtaba Ahmadi, 鈥淎ssistive Payload Transportation Using Quadrotors with Human Physical Interaction,鈥 Results in Engineering, Vol. 25, 2025.
H.S. Hosseini, Nader Joojili, Mojtaba Ahmadi, 鈥淟LMT: A Transformer-based Multi-Modal Lower Limb Human Motion Prediction Model for Assistive Robotics Applications,鈥 IEEE Access, Vol. 12, pp. 82730鈥82741, 2024.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, 鈥淧recision Robotic Deburring with Simultaneous Registration and Machining for Improved Accuracy, Quality, and Efficiency,鈥 Robotics and Computer-Integrated Manufacturing, Vol. 88, pp. 1鈥19, 2024.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, 鈥淚mproved Accuracy and Contact Stability in Robotic Contouring with Simultaneous Registration and Machining,鈥 IEEE Transactions on Control Systems Technology, Vol. 32(4), pp. 1140鈥1155, 2023.
Mohammadreza Dehghani, Ryan A. McKenzie, Rishad A. Irani, Mojtaba Ahmadi, 鈥淩obot-mounted Sensing and Local Calibration for High-Accuracy Manufacturing,鈥 Robotics and Computer-Integrated Manufacturing, Vol. 79, pp. 1鈥14, 2023.
Wade R. MacMillan, Rishad A. Irani, Mojtaba Ahmadi, 鈥淧lanar Image-Space Trajectory Planning Algorithm for Contour Following in Robotic Machining,鈥 CIRP Journal of Manufacturing Science and Technology, Vol. 42, pp. 1鈥11, 2023.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, 鈥淧recision Robotic Deburring with Simultaneous Registration and Machining for Improved Accuracy, Quality, and Efficiency,鈥 Robotics and Computer-Integrated Manufacturing, 2023.
Nicholas Berezny, Mojtaba Ahmadi, 鈥淚nterpolating across the Impedance/Admittance Spectrum with Unified Interaction Control,鈥 Discover Mechanical Engineering (Springer), pp. 1鈥24, 2023.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, 鈥淔ast and Robust Inverse Kinematics of Serial Robots Using Halley鈥檚 Method,鈥 IEEE Transactions on Robotics, Vol. 38(5), pp. 2768鈥2780, 2022.
Al-Mai, M. Ahmadi, 鈥淣ovel Calibration Methodologies for Compliant, Multi-Axis, Fiber-Optic Based Force/Torque Sensors,鈥 IEEE Transactions on Instrumentation and Measurement, Vol. 22(22), pp. 21727鈥21734, 2022.
Masoud Karimi, Mojtaba Ahmadi, 鈥淎 Reinforcement Learning Approach in Assignment of Task Priorities in Kinematic Control of Redundant Robots,鈥 IEEE Robotics and Automation Letters, Vol. 7(2), pp. 850鈥857, 2022.
Richard Beranek, Masoud Karimi, Mojtaba Ahmadi, 鈥淎 Behavior-Based Reinforcement Learning Approach to Control Walking Bipedal Robots under Unknown Disturbances,鈥 IEEE/ASME Transactions on Mechatronics, pp. 1鈥11, 2021.
Grael Miller, Rishad A. Irani, Mojtaba Ahmadi, 鈥淎pplication of Mechanistic Force Models to Features of Arbitrary Geometry at Low Material Removal Rate,鈥 International Journal of Advanced Manufacturing Technology, Vol. 117(9), pp. 2741鈥2754, 2021.
O. Al-Mai, J. Albert, M. Ahmadi, 鈥淒evelopment and Characterization of Compliant FBG-Based Shear and Normal Force Sensing Elements for Biomechanical Applications,鈥 IEEE Sensors Journal, Vol. 20(10), pp. 5176鈥5186, 2020.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, 鈥淯sing Neural Networks for Fast Numerical Integration and Optimization,鈥 IEEE Access, Vol. 8, pp. 84519鈥84531, 2020.
N. Berezny, D. Dowlatshahi, M. Ahmadi, 鈥淔easibility of a 1-DOF Linear Robot for Bed-bound Stroke Rehabilitation,鈥 ASME Journal of Medical Devices, 2020.
Grael Miller, Rishad Irani, Mojtaba Ahmadi, 鈥淭he Application of Mechanistic Cutting Force Models for Deburring,鈥 International Journal of Advanced Manufacturing Technology, Vol. 115(1鈥2), pp. 199鈥212, 2020.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, 鈥淎 Numeric Derivation for Fast Regressive Modeling of Manipulator Dynamics,鈥 Mechanisms and Machine Theory, 2020.
O. Al-Mai, M. Ahmadi, J. Albert, 鈥淒esign, Development and Calibration of a Lightweight, Compliant 6-Axis Optical Force/Torque Sensor,鈥 IEEE Sensors Journal, Vol. 18(17), pp. 7005鈥7014, 2018.
Stephanie Eng, O. Al-Mai, M. Ahmadi, 鈥淎 6-DoF, Wearable, Compliant Shoe Sensor for Gait Analysis,鈥 IEEE Transactions on Instrumentation and Measurement, Vol. 67(11), pp. 2714鈥2722, 2018.
I. Zammar, I. Mantegh, M. Saiful Huq, A. Yousefpour, M. Ahmadi, 鈥淎 Three-Dimensional Transient Model for Heat Transfer in Thermoplastic Composites during Continuous Resistance Welding,鈥 Advanced Manufacturing: Polymer and Composites Science, Vol. 3(1), pp. 32鈥41, 2017.
O. Al-Mai, M. Ahmadi, J. Albert, 鈥淎 Compliant 3-Axis Fiber-Optic Force Sensor for Biomechanical Measurement,鈥 IEEE Sensors Journal, Vol. 17(20), pp. 6549鈥6557, 2017.
Colin Miyata, Jennifer Baba, Kyle Chisholm, Mojtaba Ahmadi, 鈥淎 Limb Compliant Sensing Strategy for Safe Robot Collision Avoidance,鈥 IEEE/ASME Transactions on Mechatronics, Vol. 21(2), pp. 674鈥682, 2016.
R. Beranek, M. Ahmadi, 鈥淎 Learning Behavior Based Controller for Maintaining Balance in Robotic Locomotion,鈥 Journal of Intelligent and Robotic Systems, Vol. 82, pp. 189鈥205, 2016.
A. Morbi, M. Ahmadi, 鈥淪afely Rendering Small Impedances in Admittance-controlled Haptic Devices,鈥 IEEE/ASME Transactions on Mechatronics, Vol. 21(3), pp. 1272鈥1280, 2016.
Beranek, H. Fung, M. Ahmadi, 鈥淒isturbance Compensation in Bipedal Locomotion Using Ground Reaction Force Feedback and Centroidal Moment Pivot (CMP),鈥 International Journal of Robotics and Automation, Vol. 30(3), pp. 1鈥20, 2015.
Ayron Catteau, Mojtaba Ahmadi, 鈥淎 Wearable Computer Vision System for Measuring Shoe Position and Orientation,鈥 Measurement (Elsevier), Vol. 75, pp. 273鈥283, 2015.
S. El-Huq, R. Forrester, M. Ahmadi, P. Straznicky, 鈥淢agnetic Actuators Characterization of a UAV System,鈥 IEEE/ASME Transactions on Mechatronics, Vol. 20(4), pp. 342鈥355, 2015.
H. Xie, J. Shang, M. Ahmadi, 鈥淎daptive Control Strategies for Quadruped Robot on Unperceived Sloped Terrain,鈥 International Journal of Robotics and Automation, Vol. 30(4), pp. 1鈥20, 2015.
H. Xie, M. Ahmadi, J. Shang, 鈥淎 Novel Approach for Quadruped Trotting Based on Virtual Model Control,鈥 Journal of Systems and Control Engineering, Vol. 229(4), pp. 342鈥355, 2015.
Ali Morbi, Mojtaba Ahmadi, Adrian Chan, Robert Langlois, 鈥淎 Stability-Guaranteed Assist-As-Needed Controller for Powered Orthoses,鈥 IEEE Transactions on Control Systems Technology, Vol. 22(2), pp. 745鈥752, 2014.
Robert Forrester, Saif Huq, Mojtaba Ahmadi, Paul Straznicky, 鈥淢agnetic Signature Attenuation of an Unmanned Aircraft System for Aeromagnetic Survey,鈥 IEEE/ASME Transactions on Mechatronics, Vol. 19(4), pp. 1436鈥1446, 2014.
K. Chisholm, K. Klumper, F.A. Mullins, M. Ahmadi, 鈥淒esign of a Task Oriented Haptic Gait Rehabilitation Robot,鈥 International Journal of Mechatronics, Vol. 24(8), pp. 1083鈥1091, 2014.
I. Zammar, I. Mantegh, S. Huq, A. Yousefpour, M. Ahmadi, 鈥淚ntelligent Thermal Control of Resistance Welding of Fiberglass Laminates for Automated Manufacturing,鈥 IEEE/ASME Transactions on Mechatronics, Vol. 10(3), pp. 1069鈥1078, 2014.
Patricia G. Zarzar, Mojtaba Ahmadi, 鈥淎n Insole for Measurement of the Complete Ground Reaction Forces and Center of Pressure,鈥 Measurement (Elsevier), 2014.
Ahmed Alsenadedy, Mojtaba Ahmadi, Andy Adler, 鈥淪urface-based Electrical Imaging for Tactile Sensing Applications in 3D Space,鈥 IEEE Sensors Journal, 2013.
Ali Morbi, Mojtaba Ahmadi, Avinom Nativ, 鈥淧reliminary Experiments with an Omnidirectional Mobile Robot for Gait Rehabilitation,鈥 International Journal of Mechatronics and Automation, Vol. 3(4), pp. 247鈥262, 2013.
K. Klumper, A. Morbi, R. Beranek, K. Chisholm, M. Ahmadi, R. Langlois, 鈥淥rientation Sensing and Control of ATLAS, A Novel Motion Simulation Platform,鈥 Mechatronics, Vol. 22(8), pp. 1112鈥1123, 2012.
R. Beranek, A. Morbi, M. Ahmadi, 鈥淔uzzy Control of a Log Carrying Robot on Tree-Filled Steep-Sloping Terrains,鈥 Paladyn, Journal of Behavioral Robotics, Vol. 3(1), pp. 35鈥44, 2012.
M. Kornel, A. Khan, M. Ahmadi, 鈥淎n Adaptive Neuro-Fuzzy Inference System for Estimating the Number of Vehicles for Queue Management at Signalized Intersections,鈥 Transportation Research, Part C, Vol. 19C(1), pp. 1033鈥1047, 2011.
A. Guigue, M. Ahmadi, R. Langlois, J.M. Hayes, 鈥淧areto Optimality and Multi-objective Trajectory Planning for a 7DOF Redundant Manipulator,鈥 IEEE Transactions on Robotics, Vol. 26(6), pp. 1094鈥1099, 2010.
A. Guigue, M. Ahmadi, J.M. Hayes, R. Langlois, 鈥淎 Dynamic Programming Approximation to the Multi-objective Deterministic Finite Horizon Optimal Control Problems,鈥 SIAM Journal on Control and Optimization, Vol. 48(4), pp. 2581鈥2599, 2009.
M. Ahmadi, M. Buehler, H. Michalska, 鈥淐ontrol and Stability Analysis of Limit Cycles in a Hopping Robot,鈥 IEEE Transactions on Robotics, Vol. 23(3), pp. 553鈥563, June 2007.
M. Ahmadi, M. Buehler, 鈥淐ontrolled Passive Dynamic Experiments with ARL Monopod II,鈥 IEEE Transactions on Robotics, Vol. 22(5), pp. 947鈥986, Oct. 2006.
D. Orchard, M. Ahmadi, F.C. Tang, 鈥淎pplication of Java & VRML Visualisation Tools in Store Release Wind Tunnel Testing,鈥 The Aeronautical Journal, Vol. 109(1101), pp. 569鈥576, Nov. 2005.
M. Ahmadi, M. Jaber, F.C. Tang, 鈥淗igh-Performance Multi-Body Collision Detection for the Real-time Control of a CTS System,鈥 Transactions of the Canadian Society for Mechanical Engineering (CSME), Special Edition, Vol. 29(2), pp. 163鈥177, 2005.
M. Ahmadi, M. Buehler, 鈥淪table Control of a Simulated One-Legged Running Robot with Hip and Leg Compliance,鈥 IEEE Transactions on Robotics and Automation, Vol. 13(1), pp. 96鈥104, Feb. 1997.
P. Gregorio, M. Ahmadi, M. Buehler, 鈥淒esign, Control and Energetics of an Electrically Actuated Legged Robot,鈥 IEEE Transactions on Systems, Man and Cybernetics, Vol. 27(4), pp. 626鈥634, Aug. 1997.
Refereed Conference Papers
H. Nasser, M, H. Mohamed, M. Ahmadi, 鈥淎daptive Gain Nonlinear Observer for External Wrench Estimation in Human-UAV Physical Interaction鈥, IEEE International Conference on Robotics and Automation, ICRA 2025 (Submitted).
Nicholas Berezny, Mojtaba Ahmadi, 鈥淟imb Endpoint Impedance Estimation with Domain Adaption and OpenSim,鈥 Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 2024. (Published)
A. Abarghooei, M. Ahmadi, 鈥淚mprovement of Image-based Lane Marker Detection Algorithm Using Sensor Fusion,鈥 Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 2024. (Published)
A. Abarghooei, M. Ahmadi, 鈥淎n Intelligent Emotional Real-time Learning Controller for High-speed Lane Keeping Assist System in Autonomous Vehicles,鈥 Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 2024. (Published)
Hussein Naser, Hashim Mohammad, Mojtaba Ahmadi, 鈥淎daptive Backstepping and FNTSMC for Aerial Cooperative Payload Transportation System with Human Physical Interaction,鈥 Proceedings of the American Control Conference, 2024. (Accepted)
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, 鈥淎 Framework for Simultaneous Workpiece Registration in Robotic Machining Applications,鈥 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 5249鈥5255, 2023. (Published)
Arash Abarghooei, Mojtaba Ahmadi, 鈥淒riving Behaviour Detection Using Smart Steering Wheel: Supervised and Unsupervised Classification,鈥 Proceedings of the IEEE Sensors Applications Symposium (SAS), pp. 1鈥6, 2023. (Published)
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, 鈥淭he Application of Mechanistic Cutting Force Models for Robotic Deburring,鈥 Proceedings of the Modeling, Estimation and Control Conference, 2022. (Best Paper Award)
Hasti Khiabani, Mojtaba Ahmadi, 鈥淐lassical Machine Learning Approach for EMG-Based Lower Limb Intention Detection for Human-Robot Interaction Systems,鈥 Proceedings of the IEEE International Conference on Autonomous Systems, 2021. (Published)
Colin Miyata, Mojtaba Ahmadi, 鈥淐ompliant Limb Sensing and Control for Safe Human Robot Interactions,鈥 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 7484鈥7490, 2019. (Published)
A.Zreiba, M. Ahmadi, A. Etemad, 鈥淪imulation of Human Balance Impairment on a Biped Robot,鈥 Proceedings of the International Conference on Control, Dynamic Systems, and Robotics (CDSR), 2019. (Published)
N. Berezny, D. Dowlatshahi, M. Ahmadi, 鈥淚nteraction Control and Haptic Feedback for a Lower-limb Rehabilitation Robot with Virtual Environments,鈥 Proceedings of the International Conference on Control, Dynamic Systems, and Robotics (CDSR), 2019. (Published, Best Paper/Presentation Award)
O. Al-Mai, 鈥淔iber-Optic Based, Force and Torque Compliant Sensing Calibration Strategies,鈥 Proceedings of the International Conference on Control, Dynamic Systems, and Robotics (CDSR), 2019. (Published)
C. Miyata, M. Ahmadi, 鈥淥n the Development of a Compliant Sensor Shell for Use in Robot Safety,鈥 Proceedings of the International Conference on Control, Dynamic Systems, and Robotics (CDSR), 2019. (Published)
N. Berezny, D. Dowlatshahi, M. Ahmadi, 鈥淣ovel Concept of a Lower-limb Rehabilitation Robot Targeting Bed-bound Acute Stroke Patients,鈥 Proceedings of the Canadian Medical and Biomedical Engineering Society Conference, May 2019. (Published)
M. Ahmadi, A.D.C. Chan, C. Davies, L. Frankel, A. Girouard, T.C. Graham, Y. Labiche, E. Lemaire, J. Stewart, C. Trudel, 鈥淩esearch and Education in Accessibility, Design, and Innovation: Integrating Post-Secondary Training in Accessibility,鈥 Proceedings of the Canadian Engineering Education Association Conference, Vancouver, 2018. (Published)
Kyle Chisholm, Mojtaba Ahmadi, 鈥淰irtual Force-Field Safety Net for Variable Passive Elastic Leg Joint Limits with a Gait Rehabilitation Robot,鈥 International Conference on Control, Dynamic Systems, and Robotics, 2016. (Published, Invited Abstract)
Colin Miyata, Mojtaba Ahmadi, 鈥淥n the Use of Force Control with Compliant Sensing for Robot Safety,鈥 International Conference on Control, Dynamic Systems, and Robotics, 2016. (Published, Invited Abstract)
Christiane Courtemanche, Mojtaba Ahmadi, 鈥淧ilot Data on the Performance of Vibrotactile Actuators for Use with Assistive Devices,鈥 International Conference on Control, Dynamic Systems, and Robotics, 2016. (Published, Invited Abstract)
K. Chisholm, K. Klumper, M. Ahmadi, 鈥淟ower-Extremity Gait Rehabilitation Robotic System,鈥 Proceedings of the Canadian Society for Mechanical Engineering International Congress, Toronto, Canada, June 2014. (Published)
Iraj Mantegh, Imad Zammar, Mojtaba Ahmadi, Ali Yousefpour, 鈥淭hermal Control of Continuous Resistance Welding of Fiberglass Laminates for Automated Manufacturing,鈥 ASME International Design Engineering Technical Conferences, 2013. (Published)
A. Morbi, M. Ahmadi, A. Nativ, 鈥淕aitEnable: An Omnidirectional Robotic System for Gait Rehabilitation,鈥 IEEE International Conference on Mechatronics and Automation, Aug. 2012. (Published), (Best paper award finalist).
A. Alsenadedy, Y. Mamatjan, M. Ahmadi, A. Adler, 鈥淐haracterization of Conductive Polymer for EIT-based Sensors,鈥 International Conference on Electrical and Computer Systems, Aug. 2012. (Published)
M. Wells, M. Ahmadi, P. Straznicky, R. Forrester, 鈥淩educing Magnetic Interference in a Geomagnetic Survey UAS through Modelling and Design Optimization,鈥 IEEE Conference on Mechatronics and Automation, Aug. 2012. (Published)
R. Beranek, M. Ahmadi, 鈥淎 Behaviour-based Locomotion Controller with Learning for Disturbance Compensation in Bipedal Robots,鈥 IEEE International Conference on Robotics and Automation (ICRA), May 2012. (Published)
R. Beranek, H. Fung, M. Ahmadi, 鈥淎 Walking Stability Controller with Disturbance Rejection Based on CMP Criterion and Ground Reaction Force Feedback,鈥 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept. 2011. (Published)
A. Morbi, M. Ahmadi, A.D.C. Chan, R. Langlois, 鈥淐omparing Continuous and Intermittent Assistance Controllers for Assistive Devices,鈥 IEEE International Conference on Robotics and Automation (ICRA), May 2011. (Published), Best conference paper award
O. Barker, R. Beranek, M. Ahmadi, 鈥淒esign of a 13 Degree-of-Freedom Biped Robot with a CAN-Based Distributed Digital Control System,鈥 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 2010. (Published)
I. Zammar, I. Mantegh, M. Ahmadi, 鈥3D Predictive Model for Controlled Resistance Welding of Composites for Manufacturing Applications,鈥 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, 2009. (Published)
A. Morbi, M. Ahmadi, A.D.C. Chan, R. Langlois, 鈥淎ssistance Regulation in Wearable Assistive Devices,鈥 32nd Conference of the Canadian Medical & Biological Engineering Society, May 2009. (Published), Best conference paper award.
M. Ahmadi, A. Guigue, M. Gibeault, F.C. Tang, 鈥淢echatronic Design of Redundant Robotic Systems for Captive Trajectory Simulation Applications,鈥 IASTED Conference on Control Applications, May 2008. (Published)
A. Guigue, M. Ahmadi, J. Hayes, R. Langlois, N. Tang, 鈥淎 Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria,鈥 IEEE International Conference on Robotics and Automation (ICRA), 2007. (Published)
Patents and IP Activities
Mojtaba Ahmadi, Majid M. Moghaddam, Ben Wiebe, Sami Nassif-LaChappelle, Keyanna Coghlan, Mostafa Sattari, Jeffrey Hough, Eduardo Reis, 鈥淥ptical Multi-Axis Force and Torque Sensor,鈥 United States, Application No. 63/668,063, filed July 5, 2024. (Pending; base for SensuReal product)
M. Ahmadi, R. Irani, S. Lloyd, Mohammadreza Dehghanitafti, Ryan McKenzie, Wade MacMillan, Grael Miller, 鈥淎utomated Workpiece Machining Based on Sensed Forces Between a Tool and a Surface of a Workpiece,鈥 Virgin Islands (U.S.), filed May 31, 2024. (Pending)
Mojtaba Ahmadi, Soon Jung Bang, Nikolas Beaudin, Thomas Fikhelstein, Louis Gagnon Seguin, Omar Masaud, Darren O鈥橬eil, Chantal Trudel, 鈥淪ystem and Method for Providing Passenger Interfaces,鈥 United States, Application No. 16/665710, filed Oct. 30, 2018. (Pending; projection-based interface for business jets, Bombardier project)
Ali Morbi, Mojtaba Ahmadi, Richard Beranek, 鈥淐ontrol System and Device for Patient Assist (GaitEnable),鈥 United States Patent US9907721B2, issued Mar. 6, 2018. (Granted; PCT international patent for a gait rehabilitation device ensuring HRI stability)
License: Sensor Based Precision Robotic Deburring (RoboDeb), Licensed to Arnprior Aerospace in 2023 via 杏吧原创鈥檚 Industry Partnerships Office.
Chapters in Books
M. Moghadam and M. Ahmadi, 鈥淏ioinspiration and Robotics: Walking and Climbing Robots,鈥 Chapter on Climbing robots, pp. 421-462, Edited by Maki Habib, ISBN 978-3-902613-15-8, in press, 2007.
M. Ahmadi and M. Buehler, 鈥淧reliminary Experiments with an Actively Tuned Passive Dynamic Running Robot,鈥 in book: Experimental Robotics V, pp. 269-281, Springer-Verlag 1997.