Influence of frictions on gait optimization of a biped robot with an anthropomorphic knee. - Mathieu Hobon; Nafissa Lakbakbi Elyaaqoubi; Gabriel Abba (ASCC, 2013)

Gait Optimization of a Rolling Knee Biped at Low Walking Speeds. - Mathieu Hobon; Nafissa Lakbakbi El Yaaqoubi; Gabriel Abba (ICINCO (2), 2013)

Quasi optimal sagittal gait of a biped robot with a new structure of knee joint. - Mathieu Hobon; Nafissa Lakbakbi El Yaaqoubi; Gabriel Abba (Robotics Auton. Syst., 2014)

Feasible speeds for two optimal periodic walking gaits of a planar biped robot. - Mathieu Hobon; Víctor De-León-Gómez; Gabriel Abba; Yannick Aoustin; Christine Chevallereau (Robotica, 2022)