Computational Efficient Balance Control for a Lightweight Biped Robot with Sensor Based ZMP Estimation. - Michele Folgheraiter; Alikhan Yessaly; Galym Kaliyev; Asset Yskak; Sharafatdin Yessirkepov; Artemiy Oleinikov; Giuseppina C. Gini (Humanoids, 2018)

An Actuated Spherical Joint for Humanoid Robotics Applications. - Michele Folgheraiter; Sharafatdin Yessirkepov; Alikhan Yessaly (CIS/RAM, 2019)