Dynamic Simulation of a Humanoid Robot with Four DOFs Torso. - Fabrice Gravez; Bachar Mohamed; Fathi Ben Ouezdou (ICRA, 2002)

Analytical and Automatic Modeling of Digital Humanoids. - Fabrice Gravez; Olivier Bruneau; Fathi Ben Ouezdou (Int. J. Humanoid Robotics, 2005)

Homogeneous matric approach for the operational space control of bipedal robots with flexible feet. - Olivier Bruneau; Fabrice Gravez; Fathi Ben Ouezdou (ICRA, 2008)

Planning approach and local reactivity for 3D Operational space control of 3D bipedal robots with flexible feet. - Olivier Bruneau; Fabrice Gravez; Fathi Ben Ouezdou (IROS, 2009)