Luis Sentis, Synthesis and Control of Whole-Body Behaviors in Humanoid Systems, Ph.D. Thesis, Stanford University, July 2007, (7.4 MB).
Luis Sentis and Oussama Khatib, A Whole-Body Control Framework for Humanoids Operating in Human Environments, Proceedings of the IEEE Internactional Conference in Robotics and Automation, Orlando, USA, May 2006.
Luis Sentis and Oussama Khatib, Synthesis of whole-body behaviors through hierarchical control of behavioral primitives, International Journal of Humanoid Robotics, 2(4):505-518, December 2005.
Luis Sentis and Oussama Khatib, Control of Free-Floating Humanoid Robots Through Task Prioritization, Proceedings of the IEEE International Conference in Robotics and Automation, Barcelona, Spain, April 2005.
Luis Sentis and Oussama Khatib, Task-Oriented Control of Humanoid Robots Through Prioritization, IEEE-RAS/RSJ International Conference on Humanoid Robots, Santa Monica, USA, November 2004.
Oussama Khatib, Luis Sentis, Jae-Heung Park, James Warren, Whole Body Dynamic Behavior and Control of Human-Like Robots, International Journal of Humanoid Robotics, 1(1): 1-15, March 2004.