| 2026 | FlAIRS | Lipschitz-Regularized Critics Lead to Policy Robustness Against Transition Dynamics Uncertainty. | Xulin Chen, Ruipeng Liu, Zhenyu Gan, Garrett E. Katz |
| 2025 | IROS | 16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits. | Yasser G. Alqaham, Jing Cheng, Zhenyu Gan |
| 2025 | IROS | Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion. | Jiayu Ding, Rohit Jakkula, Tom Xiao, Zhenyu Gan |
| 2024 | IROS | Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots. | Jing Cheng, Yasser G. Alqaham, Zhenyu Gan |
| 2020 | ICRA | Leveraging the Template and Anchor Framework for Safe, Online Robotic Gait Design. | Jinsun Liu, Pengcheng Zhao, Zhenyu Gan, Matthew Johnson-Roberson, Ram Vasudevan |
| 2016 | ICRA | Optimal configuration of series and parallel elasticity in a 2D Monoped. | Yevgeniy Yesilevskiy, Zhenyu Gan, C. David Remy |
| 2015 | IROS | The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control. | Tom Cnops, Zhenyu Gan, C. David Remy |
| 2015 | IROS | A novel variable transmission with digital hydraulics. | Zhenyu Gan, Katelyn Fry, R. Brent Gillespie, C. David Remy |
| 2014 | IROS | A passive dynamic quadruped that moves in a large variety of gaits. | Zhenyu Gan, C. David Remy |