General Solution for the Dynamic Modeling of Parallel Robots. - Wisama Khalil; Ouarda Ibrahim (ICRA, 2004)

Dynamic Modeling of a 3-D Serial Eel-Like Robot. - Wisama Khalil; Guillaume Gallot; Ouarda Ibrahim; Frédéric Boyer (ICRA, 2005)

Inverse Dynamic Modeling of Serial-Parallel Hybrid Robots. - Ouarda Ibrahim; Wisama Khalil (IROS, 2006)

Dynamic Modeling and simulation of a 3-D Hybrid structure Eel-Like Robot. - Guillaume Gallot; Ouarda Ibrahim; Wisama Khalil (ICRA, 2007)