Small-space controllability of a walking humanoid robot. - Sébastien Dalibard; Antonio El Khoury; Florent Lamiraux; Michel Taïx; Jean-Paul Laumond (Humanoids, 2011)

Path Optimization for Humanoid Walk Planning - An Efficient Approach. - Antonio El Khoury; Michel Taïx; Florent Lamiraux (ICINCO (2), 2011)

Optimal motion planning for humanoid robots. - Antonio El Khoury; Florent Lamiraux; Michel Taïx (ICRA, 2013)

Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach. - Sébastien Dalibard; Antonio El Khoury; Florent Lamiraux; Alireza Nakhaei; Michel Taïx; Jean-Paul Laumond (Int. J. Robotics Res., 2013)

Planning Optimal Motions for Anthropomorphic Systems. (Planification de Mouvements Optimaux pour des Systèmes Anthropomorphes). - Antonio El Khoury (2013)

Estimation of Multiple Flexibilities of an Articulated System Using Inertial Measurements. - Matthieu Vigne; Antonio El Khoury; Matthieu Masselin; Florent Di Meglio; Nicolas Petit (CDC, 2018)

Improving Low-Level Control of the Exoskeleton Atalante in Single Support by Compensating Joint Flexibility. - Matthieu Vigne; Antonio El Khoury; Florent Di Meglio; Nicolas Petit (IROS, 2020)

State Estimation for a Legged Robot With Multiple Flexibilities Using IMUs: A Kinematic Approach. - Matthieu Vigne; Antonio El Khoury; Florent Di Meglio; Nicolas Petit (IEEE Robotics Autom. Lett., 2020)

MOVIE: A Velocity-Aided IMU Attitude Estimator for Observing and Controlling Multiple Deformations on Legged Robots. - Matthieu Vigne; Antonio El Khoury; Marine Pétriaux; Florent Di Meglio; Nicolas Petit (IEEE Robotics Autom. Lett., 2022)