Model predictive control of biped walking with bounded uncertainties. - Nahuel A. Villa; Pierre-Brice Wieber (Humanoids, 2017)

Sensitivity of Legged Balance Control to Uncertainties and Sampling Period. - Nahuel Alejandro Villa; Johannes Englsberger; Pierre-Brice Wieber (IEEE Robotics Autom. Lett., 2019)

Managing Uncertainties in Legged Robots. (Gérer les Incertitudes des Robots à Pattes). - Nahuel Alejandro Villa (2019)

Whole-Body Model Predictive Control for Biped Locomotion on a Torque-Controlled Humanoid Robot. - Ewen Dantec; Maximilien Naveau; Pierre Fernbach; Nahuel A. Villa; Guilhem Saurel; Olivier Stasse; Michel Taïx; Nicolas Mansard (Humanoids, 2022)

Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. - Giulio Romualdi; Nahuel A. Villa; Stefano Dafarra; Daniele Pucci; Olivier Stasse (Humanoids, 2022)

Torque Controlled Locomotion of a Biped Robot with Link Flexibility. - Nahuel A. Villa; Pierre Fernbach; Maximilien Naveau; Guilhem Saurel; Ewen Dantec; Nicolas Mansard; Olivier Stasse (Humanoids, 2022)