Adaptive criteria for biped dynamic stability under external perturbations. - Olivier Vanel; Philippe Gorce (IROS, 1996)

Behaviour Synthesis of the Erect Stance for a Biped Control. - Philippe Gorce; Olivier Vanel (J. Intell. Robotic Syst., 1997)

A new approach to dynamic posture control. - Olivier Vanel; Philippe Gorce (Robotica, 1997)