Designing a Muscle like System Based on PID Controller and Tuned by Neural Network. - Hayssam J. Serhan; Chaiban G. Nasr; Patrick Henaff (IJCNN, 2006)

State machine-based controller for walk-halt-walk transitions on a biped robot. - Hayssam J. Serhan; Patrick Henaff; Chaiban G. Nasr; Fathi Ben Ouezdou (Humanoids, 2008)

A new control strategy for ROBIAN biped robot inspired from human walking. - Hayssam J. Serhan; Chaiban G. Nasr; Patrick Henaff; Fathi Ben Ouezdou (IROS, 2008)

Muscle Emulation with DC Motor and Neural Networks for Biped Robots. - Hayssam J. Serhan; Chaiban G. Nasr; Patrick Henaff (Int. J. Neural Syst., 2010)