Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos. - Ewen Dantec; Rohan Budhiraja; Adria Roig; Teguh Santoso Lembono; Guilhem Saurel; Olivier Stasse; Pierre Fernbach; Steve Tonneau; Sethu Vijayakumar; Sylvain Calinon; Michel Taïx; Nicolas Mansard (ICRA, 2021)

Modeling and numerical analysis of Kangaroo lower body based on constrained dynamics of hybrid serial-parallel floating-base systems. - Enrico Mingo Hoffman; Andrea Curti; Narcís Miguel; Sai Kishor Kothakota; Alberto Molina; Adria Roig; Luca Marchionni (Robotics Auton. Syst., 2024)