Kalman Filter Based Observer for an External Force Applied to Medium-sized Humanoid Robots. - Louis Hawley; Remy Rahem; Wael Suleiman (IROS, 2018)

External Force Observer for Small- and Medium-Sized Humanoid Robots. - Louis Hawley; Remy Rahem; Wael Suleiman (Int. J. Humanoid Robotics, 2019)

Human-Humanoid Robot Cooperative Load Transportation: Model-based Control Approach. - Rémy Rahem; Christopher Yee Wong; Wael Suleiman (IROS, 2022)