Human-like gait generation from a reduced set of tasks using the hierarchical control framework from robotics. - Melya Boukheddimi; François Bailly; Philippe Souères; Bruno Watier (ROBIO, 2019)

Anthropomorphic Gait Generation using Differential Dynamic Programming with a Reduced Number of Cost Criteria. - Melya Boukheddimi; Rohan Budhiraja; Philippe Souères; Bruno Watier (BioRob, 2020)

Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements. - Melya Boukheddimi; Shivesh Kumar; Heiner Peters; Dennis Mronga; Rohan Budhiraja; Frank Kirchner (ICRA, 2022)

Robot Dance Generation with Music Based Trajectory Optimization. - Melya Boukheddimi; Daniel Harnack; Shivesh Kumar; Rohit Kumar; Shubham Vyas; Octavio Arriaga; Frank Kirchner (IROS, 2022)

Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics. - Felix Wiebe; Jonathan Babel; Shivesh Kumar; Shubham Vyas; Daniel Harnack; Melya Boukheddimi; Mihaela Popescu; Frank Kirchner (J. Open Source Softw., 2022)

Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics. - Felix Wiebe; Jonathan Babel; Shivesh Kumar; Shubham Vyas; Daniel Harnack; Melya Boukheddimi; Mihaela Popescu; Frank Kirchner (Zenodo, 2022)

Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization. - Melya Boukheddimi; Rohit Kumar; Shivesh Kumar; Justin Carpentier; Frank Kirchner (IROS, 2023)

Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton. - Ibrahim Tijjani; Rohit Kumar; Melya Boukheddimi; Mathias Trampler; Shivesh Kumar; Frank Kirchner (Humanoids, 2024)

Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization. - Rohit Kumar; Melya Boukheddimi; Dennis Mronga; Shivesh Kumar; Frank Kirchner (CoRR, 2025)