Modeling and Flatness of Rigid and Flexible Cable Suspended Underactuated Robots. - Philippe Müllhaupt; Basile Graf (CCA, 2010)

Application of legendrian foliations in differential flatness problems. - Basile Graf; Philippe Müllhaupt (CDC, 2012)

Finite Dimensional Methods for Differential Flatness. - Basile Graf (2013)