Adaptive Impedance Control Applied to a Pneumatic Legged Robot. - Costas S. Tzafestas; Nacer K. M'Sirdi; N. Manamani (J. Intell. Robotic Syst., 1997)

Methodology based on CLC for control of fast legged robots. - Nacer K. M'Sirdi; N. Manamani; Nelly Nadjar-Gauthier (IROS, 1998)

An energetic control based on limit cycles for stabilization of fast legged robots. - Nelly Nadjar-Gauthier; Nacer K. M'Sirdi; N. Manamani; D. El Ghanami (Adv. Robotics, 1998)