Passive control architecture for virtual humans. - Antoine Rennuit; Alain Micaelli; Xavier Merlhiot; Claude Andriot; François Guillaume; Nicolas Chevassus; Damien Chablat; Patrick Chedmail (IROS, 2005)

Widening 6-DOF haptic devices workspace with an additional degree of freedom. - Florian Gosselin; Claude Andriot; Florian Bergez; Xavier Merlhiot (WHC, 2007)

Quasi-dynamic splines. - Adrien Theetten; Laurent Grisoni; Christian Duriez; Xavier Merlhiot (Symposium on Solid and Physical Modeling, 2007)

Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping - Antoine Rennuit; Alain Micaelli; Xavier Merlhiot; Claude Andriot; François Guillaume; Nicolas Chevassus; Damien Chablat; Patrick Chedmail (CoRR, 2007)

Balanced Virtual Humans Interacting with their Environment - Antoine Rennuit; Alain Micaelli; Xavier Merlhiot; Claude Andriot; François Guillaume; Nicolas Chevassus; Damien Chablat; Patrick Chedmail (CoRR, 2007)

Fast computation of contact points for robotic simulations based on CAD models without tessellation. - Sébastien Crozet; Jean-Claude Léon; Xavier Merlhiot (IROS, 2016)