An anthropomorphic biped robot: dynamic concepts and technological design. - Philippe Sardain; Mostafa Rostami; Guy Bessonnet (IEEE Trans. Syst. Man Cybern. Part A, 1998)

Design and Actuation Optimization of a 4 Axes Biped Robot for Walking and Running. - Christine Chevallereau; Philippe Sardain (ICRA, 2000)

The Anthropomorphic Biped Robot BIP2000. - Bernard Espiau; Philippe Sardain (ICRA, 2000)

Gait Analysis of a Human Walker Wearing Robot feet as Shoes. - Philippe Sardain; Guy Bessonnet (ICRA, 2001)

Optimal Gait Synthesis of a Seven-Link Planar Biped. - Guy Bessonnet; Stéphane Chessé; Philippe Sardain (Int. J. Robotics Res., 2004)

Forces acting on a biped robot. Center of pressure-zero moment point. - Philippe Sardain; Guy Bessonnet (IEEE Trans. Syst. Man Cybern. Part A, 2004)

Zero moment point-measurements from a human walker wearing robot feet as shoes. - Philippe Sardain; Guy Bessonnet (IEEE Trans. Syst. Man Cybern. Part A, 2004)

A Parametric Optimization Approach to Walking Pattern Synthesis. - Guy Bessonnet; Pascal Seguin; Philippe Sardain (Int. J. Robotics Res., 2005)

Parametric-based dynamic synthesis of 3D-gait. - Guy Bessonnet; Jérôme Marot; Pascal Seguin; Philippe Sardain (Robotica, 2010)