D. J. Schmidt-g, Synthesis of a Walking Primitive Database for a Humanoid Robot using Optimal Control Techniques, Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp.319-326, 2001.

F. H. Merlet-j, Dynamic interference avoidance of 2-DOF robot arms using interval analysis, Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on, pp.3809-3814, 2005.

F. P. Cotton-s and M. A. Pierrot-f, Towards dynamic balance control of humanoid robots by using com and zmp, Workshop in the IEEE-RAS 7th International Conference on Humanoid Robots, 2007.

G. D. Poignet-p, M. H. Wieber-p, . Pierrot-f, D. J. Dombre-e, and . Rabischong-p, Modelling of the human paralysed lower limb under fes, Robotics and Automation, 2003. Proceedings. ICRA apos ;03. IEEE International Conference on, pp.2218-2223, 2003.

H. E. Walster-g, Global optimization using interval analysis, 2004.
DOI : 10.1201/9780203026922

H. R. Kortanek-k, Semi-infinite programming : theory, methods, and applications, SIAM Rev, vol.35, issue.3, pp.380-429, 1993.

K. W. Dombre-e, Modeling, Identification & Control of Robots, Hermes Sciences Europe, 2002.

. Lawrence, User's Guide for CFSQP Version 2.5 : A C Code for Solving (Large Scale) Constrained Nonlinear (Minimax) Optimization Problems, Generating Iterates Satisfying All Inequality Constraints, Electrical Engineering Department, 20742.

L. S. and R. N. Fraisse-p, Guaranteed computation of constraints for safe path planning, IEEE-RAS 7th International Conference on Humanoid Robots, 2007.

L. S. and R. N. Fraisse-p, Safe path planning for humanoid robots, submitted to Intelligent Robots and Systems, 2008.

M. S. and Y. K. Kheddar-a, Development of a software for motion optimization of robots -application to the kick motion of the hrp-2 robot, Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics, pp.299-304, 2006.

M. R. Bierbaum-f, Methods and Applications of Interval Analysis, SIAM Studies in Applied and Numerical Mathematics) (Siam Studies in Applied Mathematics, 2.). Soc for Industrial & Applied Math, 1979.

P. A. Visioli-a, Global minimum-jerk trajectory planning of robot manipulators, IEEE Transactions on Industrial Electronics, pp.140-149, 2000.

V. Stryk and O. , Numerical Solution of Optimal Control Problems by Direct Collocation, 1993.
DOI : 10.1007/978-3-0348-7539-4_10

V. M. Juricic-d, Contribution to the synthesis of biped gait, IEEE trans. Bio-Med Eng. BME, vol.16, pp.1-6, 1969.

Y. E. Belousov-i and E. C. Laumond-j.-p, Humanoid motion planning for dynamic tasks, Humanoid Robots 5th IEEE-RAS International Conference on, pp.1-6, 2005.