Whole-body humanoid control from upper-body task specifications. - Ghassan Bin Hammam; David E. Orin; Behzad Dariush (ICRA, 2010)

Constrained resolved acceleration control for humanoids. - Behzad Dariush; Ghassan Bin Hammam; David E. Orin (IROS, 2010)

Optimizing foot Centers of pressure through force Distribution in a humanoid robot. - Patrick M. Wensing; Ghassan Bin Hammam; Behzad Dariush; David E. Orin (Int. J. Humanoid Robotics, 2013)

Kinodynamically Consistent Motion Retargeting for Humanoids. - Ghassan Bin Hammam; Patrick M. Wensing; Behzad Dariush; David E. Orin (Int. J. Humanoid Robotics, 2015)