David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments.
Humanoids, Nov 2014, Madrid, Spain. pp.693-698,
⟨10.1109/HUMANOIDS.2014.7041438⟩.
⟨lirmm-01089549⟩