S. D. Yazdi Mirmokhalesouni, M. A. Sharbafi, M. J. Yazdanpanah, M. Nili Ahmadabadi "Modeling, control and analysis of a curved feet compliant biped with HZD approach", Nonlinear Dynamics, Springer, 91, 459-473

S. D. Yazdi Mirmokhalesouni, M. J. Yazdanpanah "Peaking Attenuation in High-gain Observers using Adaptive Saturation: Application to Ball and Wheel System", Amirkabir International Journal of Science and Research, Modeling, Identication, Simulation & Control. 47 (1), 33-40

S. D. Yazdi Mirmokhalesouni, M. A. Sharbafi, M. J. Yazdanpanah, M. Nili Ahmadabadi "Foot design for bipedal walking using HZD-based control approach", 6th International Symposium on Adaptive motion of Animals and Machines, Germany, 2013.

S. D. Yazdi Mirmokhalesouni, M. A. Sharbafi, M. J. Yazdanpanah, M. Nili Ahmadabadi "Hybrid Zero Dynamic Based Control Approach for a Curved Feet Bipedal SLIP", Dynamic Walking 2013.