Controlling a manipulator using sensory motor interaction. - V. S. Gurfinkel; E. A. Devjanin; A. V. Lensky; S. B. Mozhzhevelov; Alexander M. Formal'sky; A. Yu. Shneider (Robotica, 1984)

Manipulator motion along a constraint. - A. V. Lensky; A. B. Lizunov; Alexander M. Formal'sky; A. Yu. Shneider (Robotica, 1986)

Dynamic Walking of a Vehicle With Two Telescopic Legs Controlled by Two Drives. - A. A. Grishin; Alexander M. Formal'sky; A. V. Lensky; S. V. Zhitomirsky (Int. J. Robotics Res., 1994)

Stabilization of Flexible One-Link Arm Position: Stability Domains in the Space of Feedback Gains. - Alexander M. Formal'sky; E. K. Lavrovsky (Int. J. Robotics Res., 1996)

Control of a walking robot with feet following a reference trajectory derived from ballistic motion. - Christine Chevallereau; Alexander M. Formal'sky; B. Perrin (ICRA, 1997)

On the Synthesis of a Norminal Trajectory for Control Law of a One-Link Flexible Arm. - Yannick Aoustin; Alexander M. Formal'sky (Int. J. Robotics Res., 1997)

Control of Autonomous Motion of Two-wheel Bycycle with Gyroscopic Stabilization. - A. V. Beznos; Alexander M. Formal'sky; E. V. Gurfinkel; D. N. Jicharev; A. V. Lensky; K. V. Savitsky; L. S. Tchesalin (ICRA, 1998)

Low Energy Cost Reference Trajectories for a Biped Robot. - Christine Chevallereau; Alexander M. Formal'sky; B. Perrin (ICRA, 1998)

On Ballistic Walking Locomotion of a Quadruped. - Alexander M. Formal'sky; Christine Chevallereau; B. Perrin (Int. J. Robotics Res., 2000)

Simple anti-swing feedback control for a gantry crane. - Yannick Aoustin; Alexander M. Formal'sky (Robotica, 2003)

Tracking a joint path for the walk of an underactuated biped. - Christine Chevallereau; Alexander M. Formal'sky; Dalila Djoudi (Robotica, 2004)

On the stabilization of a biped vertical posture in single support using internal torques. - Yannick Aoustin; Alexander M. Formal'sky (Robotica, 2005)

On optimal swinging of the biped arms. - Yannick Aoustin; Alexander M. Formal'sky (IROS, 2008)

Ball on a beam: stabilization under saturated input control with large basin of attraction - Yannick Aoustin; Alexander M. Formal'sky (CoRR, 2010)