The following publications are possibly variants of this publication:
- The Pneumatic Biped Lucy Actuated with Pleated Pneumatic Artificial MusclesBjörn Verrelst, Ronald Van Ham, Bram Vanderborght, Frank Daerden, Dirk Lefeber, Jimmy Vermeulen. arobots, 18(2):201-213, 2005. [doi]
- Overview of the Lucy Project: Dynamic Stabilization of a Biped Powered by Pneumatic Artificial MusclesBram Vanderborght, Ronald Van Ham, Björn Verrelst, Michaël Van Damme, Dirk Lefeber. ar, 22(10):1027-1051, 2008. [doi]
- Controlling a bipedal walking robot actuated by pleated pneumatic artificial musclesBram Vanderborght, Björn Verrelst, Ronald Van Ham, Dirk Lefeber. robotica, 24(4):401-410, 2006. [doi]
- Dynamic Control of a Bipedal Walking Robot actuated with Pneumatic Artificial MusclesBram Vanderborght, Björn Verrelst, Ronald Van Ham, Jimmy Vermeulen, Dirk Lefeber. icra 2005: 1-6
- A pneumatic biped: experimental walking results and compliance adaptation experimentsBram Vanderborght, Björn Verrelst, Ronald Van Ham, Michaël Van Damme, Dirk Lefeber. humanoids 2005: 44-49 [doi]
- Trajectory Planning for the Walking Biped Lucy Jimmy Vermeulen, Björn Verrelst, Bram Vanderborght, Dirk Lefeber, P. Guillaume. ijrr, 25(9):867-887, 2006. [doi]
- Motion Generation and Control for the Pneumatic Biped Lucy Björn Verrelst, Jimmy Vermeulen, Bram Vanderborght, Ronald Van Ham, Joris Naudet, Dirk Lefeber, Frank Daerden, Michaël Van Damme. ijhr, 3(1):67-103, 2006. [doi]
- Torque and Compliance Control of the Pneumatic Artificial Muscles in the Biped "Lucy"Bram Vanderborght, Björn Verrelst, Ronald Van Ham, Michaël Van Damme, Pieter Beyl, Dirk Lefeber. icra 2006: 842-847