diff --git a/paper.bib b/paper.bib
index c884c48c..0d25eefa 100644
--- a/paper.bib
+++ b/paper.bib
@@ -1,7 +1,7 @@
 @INPROCEEDINGS{Sentis2006,
   author={Sentis, L. and Khatib, O.},
-  booktitle={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.}, 
-  title={A whole-body control framework for humanoids operating in human environments}, 
+  booktitle={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
+  title={A whole-body control framework for humanoids operating in human environments},
   year={2006},
   volume={},
   number={},
@@ -35,6 +35,15 @@ @misc{kdl2021
   note = {Accessed: 2021-09-14}
 }
 
+@article{Eer2021DesignAA,
+  title={Design, analysis and control of the series-parallel hybrid RH5 humanoid robot},
+  author={Julian E{\ss}er and Shivesh Kumar and Heiner Peters and Vinzenz Bargsten and Jose de Gea and Carlos Mastalli and Olivier Stasse and Frank Kirchner},
+  journal={2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)},
+  year={2021},
+  pages={400-407},
+  url={https://api.semanticscholar.org/CorpusID:231709495}
+}
+
 
 @Article{Felis2016,
   author="Felis, Martin L.",
@@ -104,8 +113,8 @@ @ARTICLE{Ferreau2014
 
 @INPROCEEDINGS{Posa2016,
   author={Posa, Michael and Kuindersma, Scott and Tedrake, Russ},
-  booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)}, 
-  title={Optimization and stabilization of trajectories for constrained dynamical systems}, 
+  booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)},
+  title={Optimization and stabilization of trajectories for constrained dynamical systems},
   year={2016},
   volume={},
   number={},
@@ -129,8 +138,8 @@ @article{Koolen2016
 
 @INPROCEEDINGS{Mronga2022,
   author={Mronga, Dennis and Kumar, Shivesh and Kirchner, Frank},
-  booktitle={2022 International Conference on Robotics and Automation (ICRA)}, 
-  title={Whole-Body Control of Series-Parallel Hybrid Robots}, 
+  booktitle={2022 International Conference on Robotics and Automation (ICRA)},
+  title={Whole-Body Control of Series-Parallel Hybrid Robots},
   year={2022},
   volume={},
   number={},
@@ -184,6 +193,3 @@ @Article{Popescu2022
 ABSTRACT = {Regardless of recent advances, humanoid robots still face significant difficulties in performing locomotion tasks. Among the key challenges that must be addressed to achieve robust bipedal locomotion are dynamically consistent motion planning, feedback control, and state estimation of such complex systems. In this paper, we investigate the use of an external motion capture system to provide state feedback to an online whole-body controller. We present experimental results with the humanoid robot RH5 performing two different whole-body motions: squatting with both feet in contact with the ground and balancing on one leg. We compare the execution of these motions using state feedback from (i) an external motion tracking system and (ii) an internal state estimator based on inertial measurement unit (IMU), forward kinematics, and contact sensing. It is shown that state-of-the-art motion capture systems can be successfully used in the high-frequency feedback control loop of humanoid robots, providing an alternative in cases where state estimation is not reliable.},
 DOI = {10.3390/s22249853}
 }
-
-
-
diff --git a/paper.md b/paper.md
index 0b08d203..54a5419d 100644
--- a/paper.md
+++ b/paper.md
@@ -64,7 +64,10 @@ $$
 
 where $\mathbf{K}_p,\mathbf{K}_d$ are gain matrices, $\mathbf{x},\mathbf{v}$ the end effector position and velocity, $\dot{\mathbf{v}}_r,\mathbf{v}_r,\mathbf{x}_r$ the reference acceleration, velocity, and position. This example is implemented for a 7 DoF KUKA iiwa robot arm in the ARC-OPT tutorials\footnote{\url{https://github.com/ARC-OPT/wbc/blob/master/tutorials/kuka_iiwa/cart_pos_ctrl_dynamic.cpp}}.
 
-The ARC-OPT library for Whole-Body Control has been used in various scientific works [@Mronga2022],[@Mronga2021],[@Mronga2020],[@Popescu2022].
+The ARC-OPT library for Whole-Body Control has been used in various scientific works [@Mronga2022],[@Mronga2021],[@Mronga2020],[@Popescu2022], and evaluated on different robots.
+
+![RH5 Humanoid robot [@Eer2021DesignAA] standing on one leg using the ARC-OPT library](rh5_one_leg.png)
+
 
 # Acknowledgements
 
diff --git a/rh5_one_leg.png b/rh5_one_leg.png
new file mode 100644
index 00000000..bbaef0dc
Binary files /dev/null and b/rh5_one_leg.png differ