Automatic preshaping for a dextrous hand from a simple description of objects. - Christian Bard; Jocelyne Troccaz (IROS, 1990)

Shape analysis and hand preshaping for grasping. - Christian Bard; Jocelyne Troccaz; Gianni Viardo Vercelli (IROS, 1991)

Planning Dextrous Operations Using Physical Models. - Ammar Joukhadar; Christian Bard; Christian Laugier (ICRA, 1994)

An integrated approach to achieve dextrous grasping from task level specification. - Christian Bard; Christian Laugier; Christine Milesi-Bellier (IROS, 1994)

Combining geometric and physical models: the case of a dextrous hand. - Ammar Joukhadar; Christian Bard; Christian Laugier (IROS, 1994)

Interaction sensori-motrice en robotique : application à la préhension automatisée pour une main articulée à plusieurs doigts. (Robot motor-sensor interaction: an automatic grasp planner for a dexterous robot hand). - Christian Bard (1994)

Integrating Grasp Planning and Visual Servoing for Automatic Grasping. - Radu Horaud; Fadi Dornaika; Christian Bard; Christian Laugier (ISER, 1995)

Achieving Dextrous Grasping by Integrating Planning and Vision-Based Sensing. - Christian Bard; Christian Laugier; Christine Milesi-Bellier; Jocelyne Troccaz; Bill Triggs; Gianni Viardo Vercelli (Int. J. Robotics Res., 1995)