Constraints Compliant Control: Constraints compatibility and the displaced configuration approach. - Sébastien Rubrecht; Vincent Padois; Philippe Bidaud; Michel de Broissia (IROS, 2010)

Motion safety and constraints compatibility for multibody robots. - Sébastien Rubrecht; Vincent Padois; Philippe Bidaud; Michel de Broissia; Max Da Silva Simoes (Auton. Robots, 2012)