Safe navigation strategies for a biped robot walking in a crowd. - Nestor Bohorquez; Alexander Sherikov; Dimitar Dimitrov 001; Pierre-Brice Wieber (Humanoids, 2016)

Adaptive step duration in biped walking: A robust approach to nonlinear constraints. - Nestor Bohorquez; Pierre-Brice Wieber (Humanoids, 2017)

Adaptive step rotation in biped walking. - Nestor Bohorquez; Pierre-Brice Wieber (IROS, 2018)