| 2023 | ICRA | Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running. | Devin Crowley, Jeremy Dao, Helei Duan, Kevin Green, Jonathan W. Hurst, Alan Fern |
| 2022 | ICRA | Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loads. | Jeremy Dao, Kevin Green, Helei Duan, Alan Fern, Jonathan W. Hurst |
| 2022 | ICRA | Sim-to-Real Learning of Footstep-Constrained Bipedal Dynamic Walking. | Helei Duan, Ashish Malik, Jeremy Dao, Aseem Saxena, Kevin Green, Jonah Siekmann, Alan Fern, Jonathan W. Hurst |
| 2022 | IROS | Learning Dynamic Bipedal Walking Across Stepping Stones. | Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan W. Hurst |
| 2022 | IROS | Motion Planning for Agile Legged Locomotion using Failure Margin Constraints. | Kevin Green, John Warila, Ross L. Hatton, Jonathan W. Hurst |
| 2021 | ICRA | Learning Task Space Actions for Bipedal Locomotion. | Helei Duan, Jeremy Dao, Kevin Green, Taylor Apgar, Alan Fern, Jonathan W. Hurst |
| 2021 | ICRA | Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition. | Jonah Siekmann, Yesh Godse, Alan Fern, Jonathan W. Hurst |
| 2020 | ICRA | Planning for the Unexpected: Explicitly Optimizing Motions for Ground Uncertainty in Running. | Kevin Green, Ross L. Hatton, Jonathan W. Hurst |
| 2019 | CoRL | Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real. | Zhaoming Xie, Patrick Clary, Jeremy Dao, Pedro Morais, Jonathan W. Hurst, Michiel van de Panne |
| 2019 | IROS | Ankle Torque During Mid-Stance Does Not Lower Energy Requirements of Steady Gaits. | Mike Hector, Kevin Green, Burak Sencer, Jonathan W. Hurst |
| 2018 | IROS | Feedback Control For Cassie With Deep Reinforcement Learning. | Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan W. Hurst, Michiel van de Panne |
| 2015 | ICRA | Passive-dynamic leg design for agile robots. | Andy Abate, Ross L. Hatton, Jonathan W. Hurst |
| 2015 | ICRA | Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. | Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames |
| 2015 | ICRA | Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion. | Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst |
| 2015 | ICRA | Toward step-by-step synthesis of stable gaits for underactuated compliant legged robots. | Siavash Rezazadeh, Jonathan W. Hurst |
| 2015 | ICRA | Touch-down angle control for spring-mass walking. | Hamid Reza Vejdani, Albert Wu, Hartmut Geyer, Jonathan W. Hurst |
| 2014 | IROS | From template to anchor: A novel control strategy for spring-mass running of bipedal robots. | Behnam Dadashzadeh, Hamid Reza Vejdani, Jonathan W. Hurst |
| 2014 | IROS | On the optimal selection of motors and transmissions for electromechanical and robotic systems. | Siavash Rezazadeh, Jonathan W. Hurst |
| 2014 | IROS | Running into a trap: Numerical design of task-optimal preflex behaviors for delayed disturbance responses. | Johnathan Van Why, Christian Hubicki, Mikhail S. Jones, Monica A. Daley, Jonathan W. Hurst |
| 2013 | ICRA | Optimal passive dynamics for physical interaction: Throwing a mass. | Hamid Reza Vejdani, Jonathan W. Hurst |
| 2011 | IROS | Force control for planar spring-mass running. | Devin Koepl, Jonathan W. Hurst |
| 2010 | ICRA | Optimal passive dynamics for torque/force control. | Kevin Kemper, Devin Koepl, Jonathan W. Hurst |
| 2007 | ICRA | Design and Philosophy of the BiMASC, a Highly Dynamic Biped. | Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi |
| 2007 | ICRA | A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running. | Jonathan W. Hurst, Benjamin Morris, Joel E. Chestnutt, Alfred A. Rizzi |
| 2004 | ICRA | An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion. | Jonathan W. Hurst, Joel E. Chestnutt, Alfred A. Rizzi |