QP-based impact momentum maximization for a hammering task by a humanoid robot. - Jimmy Vu; Ruud Erens; Helene Stefanelli; Rafael Cisneros 001; Mehdi Benallegue; Abdelaziz Benallegue (AMC, 2026)

Passivity-based Vs Momentum-residual-based external Disturbance Compensation for Closed Loop Torque Control : A comparative study. - Martin Soucail; Mehdi Benallegue; Mathieu Célérier; Bastien Muraccioli; Thomas Duvinage; Helene Stefanelli; Rafael Cisneros Limón (SII, 2026)