Study of the dynamic behavior of RALPHY. - Claude Villard; Philippe Gorce; Jean-Guy Fontaine (IROS, 1993)

Study of a distributed control architecture for a quadruped robot. - Claude Villard; Philippe Gorce; Jean-Guy Fontaine (J. Intell. Robotic Syst., 1994)

Grasping, coordination and optimal force distribution in multifingered mechanisms. - Philippe Gorce; Claude Villard; Jean-Guy Fontaine (Robotica, 1994)