Simulations of the Dynamic Behavior of a Bipedal Robot with Torso Subjected to External Eisturbances. - Chiheb Zaoui; Olivier Bruneau; Fathi Ben Ouezdou; Aref Y. Maalej (CLAWAR, 2005)

Dynamic balance of a bipedal robot with trunk and arms subjected to 3D external disturbances. - Chiheb Zaoui; Olivier Bruneau; Fathi Ben Ouezdou; Aref Y. Maalej (IROS, 2007)