Comparative Metrics of Advanced Serial/Parallel Biped Design and Characterization of the Main Contemporary Architectures. - Virgile Batto; Thomas Flayols; Nicolas Mansard; Margot Vulliez (Humanoids, 2023)

Control of Humanoid Robots with Parallel Mechanisms using Kinematic Actuation Models. - Victor Lutz; Ludovic De Matteïs; Virgile Batto; Nicolas Mansard (CoRR, 2025)

Optimal Control of Walkers with Parallel Actuation. - Ludovic De Matteïs; Virgile Batto; Justin Carpentier; Nicolas Mansard (CoRR, 2025)

Extended URDF: Accounting for parallel mechanism in robot description. - Virgile Batto; Ludovic De Matteïs; Nicolas Mansard (CoRR, 2025)