1) 
US Patent Number: 5,432,417
Title: Locomotion control system for legged mobile robot.
Date: 93
Mots-cles: Controle du bipede, ZMP.

2) 
US Patent Number: 5,311,109
Title: Locomotion control system for legged mobile robot.
Date: 93
Mots-cles: Controle du bipede, Compensation des deformations.

3)
US Patent number: 5,355,064
Title: Control System for legged mobile robot
Date: 93
Mots-cles: Controle du bipede.

4)
US Patent number: 5,349,277
Title: Control System for legged mobile robot
Date: 93
Mots-cles: Controle du bipede, inclinaison.

5)
US Patent number: 5,426,586
Title: Robot drive joint control system.
Date: 93
Mots-cles: Control du bipede, Force de reaction au sol.

6)
US Patent number: 5,459,659
Title: Attitude stabilisation control system for a legged mobile
       robot
Date: 93
Mots-cles: Controle du bipede, ZMP.

7)
European Patent Number: EP 0 765 797 A2
Title: Method of generating gait of legged walking robot
       and system for controlling its locomotion
Date: 96
Mots-cles: Controle du bipede, Generation de Trajectoire, Pied.

8)
US Patent number: 5,357,433
Title: Gait generation system for a legged mobile robot.
Date: 93
Mots-cles: Controle du bipede, Generation de Trajectoire, ZMP.

9)
US Patent number: 5,402,050
Title: Locomotion control system for mobile robot.
Date: 93
Mots-cles: Controle du bipede, Escalier.

10)
US Patent number: 5,252,901
Title: System for controlling locomotion of legged walking robot
Date: 91
Mots-cles: Controle du bipede, Escalier.

10)
US Patent number: 5,252,901
Title: System for controlling locomotion of legged walking robot
Date: 91
Mots-cles: Articulation.

11)
US Patent number: 5,343,397
Title: System for controlling locomotion of legged walking robot
Date: 91
Mots-cles: Articulation.

12)
US Patent number: 5,159,988
Title: Articulated structure for legged walking robot
Date: 90
Mots-cles: Articulation.

13)
US Patent number: 5,206,569
Title: System for controlling locomotion of legged walking robot
Date: 91
Mots-cles: Controle du bipede, Absorption d'impact.

14)
US Patent number: 5,416,393
Title: Legged mobile robot foot structure
Date: 93
Mots-cles: Pied.

15)
US Patent number: 5,255,753
Title: Foot structure for legged walking robot
Date: 92
Mots-cles: Pied.

16)
US Patent number: 5,151,859
Title: Legged walking robot and system for
       controlling the same
Date: 90
Mots-cles: Capteur Force Cheville.

17)
US Patent number: 5,455,497
Title: Legged walking robot and system for
       controlling the same
Date: 93
Mots-cles: Absorption d'impact, Pied.

18)
US Patent number: 5,513,106
Title: System for controlling locomotion of a 
       walking robot having a sensor for detecting
       externally exerted forces.
Date: 94
Mots-cles: Capteur Force.

19)
US Patent number: 5,404,086
Title: System for controlling locomotion of 
       legged mobile robot and correcting 
       inclinometers output thereof
Date: 93
Mots-cles: Capteur Inclinometre.

20)
US Patent number: 5,378,969
Title: Navigation control system for mobile
       robot
Date: 93
Mots-cles: Capteur Vision, Escalier.

21)
European Patent number: 0 674 182 A2
Title: Hybrid Sensor
Date: 95
Mots-cles: Capteur hybride, Acceleration et Vitesse.

22)
European Patent number: 0 674 182 A3
Title: Hybrid Sensor
Date: 95
Mots-cles: Capteur hybride, Acceleration et Vitesse.

23)
US Patent number: 5,378,969
Title: Legged mobile robot equipped with impact
       absorber
Date: 93
Mots-cles: Securite, Air Bags !

24)
European Patent number: 0 661 614 A2
Title: System for detecting position of mobile 
       robot and controlling the same
Date: 94
Mots-cles: Capteur Optique, Pied.
----------------------------------------------------------------
25) 
US Patent number: 5,644,204
Title: Anti-slip control for a legged robot and realistic simulation
of a legged structure.
Date: 97
Mots-cles: Simulation


26) 
European Patent number: EP 0 856 457 A2
Title: Gait generation system for a legged mobile robot
Date: 98
Mots-cles: Controle du bipede, ZMP.

27)
European Patent number: EP 0 850 729 A2
Title: Remote control system for legged moving robot
Date: 97
Mots-cles: du japonais...

28)
European Patent number: EP 0 820 918 A1
Title: Gait generation system for a legged mobile robot
Date: 97
Mots-cles:Controle du bipede, ZMP.


29)
US Patent number: 5,594,644
Title: Method and system for generaing trajectory of robot and the like
Date: 97
Mots-cles: Generation de Trajectoire

30)
European Patent number: EP 0 791 439 A2
Title: Articulated structure for legged walking robot
Date: 97
Mots-cles: Articulation.

EP0488693, EP0488692, EP0488691, EP0478393,