Task-priority formulations for the kinematic control of highly redundant articulated structures. - Paolo Baerlocher; Ronan Boulic (IROS, 1998)

Parametrization and Range of Motion of the Ball-and-Socket Joint. - Paolo Baerlocher; Ronan Boulic (DEFORM/AVATARS, 2000)

Kinematic Control of the Mass Properties of Redundant Articulated Bodies. - Paolo Baerlocher; Ronan Boulic (ICRA, 2000)

Using an Intermediate Skeleton and Inverse Kinematics for Motion Retargeting. - Jean-Sébastien Monzani; Paolo Baerlocher; Ronan Boulic; Daniel Thalmann (Comput. Graph. Forum, 2000)

An inverse kinematics architecture enforcing an arbitrary number of strict priority levels. - Paolo Baerlocher; Ronan Boulic (Vis. Comput., 2004)