An Enhanced Poincaré Map Expression for the Passive Dynamic Walking of the Compass-Gait Biped Robot. - Wafa Znegui; Hassène Gritli; Safya Belghith (SSD, 2020)

Stabilization of the Passive Biped Dynamic Locomotion Using the Controlled Poincaré Map. - Wafa Znegui; Hassène Gritli; Safya Belghith (SSD, 2020)

Control of the Compass-Gait Walker Using an Enhanced Poincaré Map and via LMI-Based Optimization. - Wafa Znegui; Hassène Gritli; Safya Belghith (SSD, 2021)

Walking Dynamics of the 2-Link Compass Biped Robot: Further Analysis Using the First Explicit Form of the Poincaré Map. - Wafa Znegui; Hassène Gritli (SSD, 2025)