Dynamic obstacle crossing by a biped robot, based on control of the propulsion energy. - Paul-François Doubliez; Olivier Bruneau; Fathi Ben Ouezdou (IROS, 2010)

Force Control of the Redundant leg of a Biped Robot to Produce Large Inertial Effects for Crossing Obstacles. - Paul-François Doubliez; Olivier Bruneau; Fethi Ben Ouezdou (Int. J. Humanoid Robotics, 2012)