| 2018 | IROS | CPG-based Controllers can Generate Both Discrete and Rhythmic Movements. | Mlanie Jouaiti, Patrick Henaff |
| 2016 | IROS | Measurement and analysis of physical parameters of the handshake between two persons according to simple social contexts. | Gilles Tagne, Patrick Henaff, Nicolas Grgori |
| 2009 | IROS | Three DOF hybrid mechanism for humanoid robotic application: Modeling, design and realization. | Samer Alfayad, Fathi Ben Ouezdou, Faycal Namoun, Olivier Bruneau, Patrick Henaff |
| 2009 | IROS | Experience-based learning mechanism for neural controller adaptation: Application to walking biped robots. | John Nassour, Patrick Henaff, Fathi Ben Ouezdou, Gordon Cheng |
| 2008 | IROS | A new control strategy for ROBIAN biped robot inspired from human walking. | Hayssam J. Serhan, Chaiban G. Nasr, Patrick Henaff, Fathi Ben Ouezdou |
| 2006 | ICANN | Time Window Width Influence on Dynamic BPTT(h) Learning Algorithm Performances: Experimental Study. | Vincent Scesa, Patrick Henaff, Fathi Ben Ouezdou, Faycal Namoun |
| 2006 | IJCNN | On the Analysis of Sigmoid Time Parameters for Dynamic Truncated BPTT Algorithm. | Vincent Scesa, Patrick Henaff, Fathi Ben Ouezdou, Faycal Namoun |
| 2006 | IJCNN | Designing a Muscle like System Based on PID Controller and Tuned by Neural Network. | Hayssam J. Serhan, Chaiban G. Nasr, Patrick Henaff |
| 2005 | ICRA | Dynamic Recurrent Neural Network for Biped Robot Equilibrium Control: Preliminary Results. | Vincent Scesa, Bachar Mohamed, Patrick Henaff, Fathi Ben Ouezdou |
| 2004 | IROS | Comparative study of two homeostatic mechanisms in evolved neural controllers for legged locomotion. | Thierry Hoinville, Patrick Henaff |
| 2003 | ICRA | Configuring sensors by user learning for a locomotion aid interface. | Roland Thieffry, ric Monacelli, Patrick Henaff, Stephane Delaplace |
| 1997 | KES | Fuzzy and neural control for mobile robotics experimentations. | G. Bourdon, Patrick Henaff |