Modelling of human body control scheme and learning in stepping motion over an obstacle. - Philippe Gorce; Farid El Hafi (IROS, 1998)

Walking dynamic control under unknown perturbation. - Farid El Hafi; Philippe Gorce (SMC, 1998)

Behavioural approach for a bipedal robot stepping motion gait. - Farid El Hafi; Philippe Gorce (Robotica, 1999)

Decision mechanisms analysis for the stepping motion over an obstacle based on a biomechanical approach. - Farid El Hafi; Philippe Gorce (SMC, 2000)

Dynamic Control of Walking Cycle with Initiation Process for Humanoid Robot. - Philippe Gorce; Farid El Hafi; Juan López Coronado (J. Intell. Robotic Syst., 2001)