Self-Tuning Neural Network Controller Based on Fuzzy Logic for Multiple Positions Tracking of a Pneumatic Driven Soft Endoscope Actuator. - Renzo Acosta; Julio Tafur; Ruth Canahuire (ICARA, 2024)

Reinforcement Learning-Based Parameter Optimization for Whole-Body Admittance Control with IS-MPC. - Nícolas Figueroa; Julio Tafur; Abderrahmane Kheddar (SII, 2024)

Fast Autolearning for Multimodal Walking in Humanoid Robots With Variability of Experience. - Nícolas Figueroa; Julio Tafur; Abderrahmane Kheddar (IEEE Robotics Autom. Lett., 2025)