E. Yoshida, I. Belousov, C. Esteves, and J. Laumond, Humanoid motion planning for dynamic tasks, 5th IEEE-RAS International Conference on Humanoid Robots, 2005., pp.1-6, 2005.
DOI : 10.1109/ICHR.2005.1573536

S. Miossec, K. Yokoi, and A. Kheddar, Development of a software for motion optimization of robots - Application to the kick motion of the HRP-2 robot, 2006 IEEE International Conference on Robotics and Biomimetics, pp.299-304, 2006.
DOI : 10.1109/ROBIO.2006.340170

A. Piazzi and A. Visioli, Global minimum-jerk trajectory planning of robot manipulators, IEEE Transactions on Industrial Electronics, pp.140-149, 2000.
DOI : 10.1109/41.824136

W. Suleiman, E. Yoshida, J. Laumond, and A. Monink, On humanoid motion optimization, 2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007.
DOI : 10.1109/ICHR.2007.4813866
URL : https://hal.archives-ouvertes.fr/hal-00164004

S. Lengagne, N. Ramdani, and P. Fraisse, Guaranteed computation of constraints for safe path planning, 2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007.
DOI : 10.1109/ICHR.2007.4813886
URL : https://hal.archives-ouvertes.fr/lirmm-00193965

O. Brock and O. Khatib, Real-time re-planning in high-dimensional configuration spacesusing sets of homotopic paths, Robotics and Automation Proceedings. ICRA '00. IEEE International Conference on, pp.550-555, 2000.

S. Behnke, M. Schreiber, J. Stuckler, R. Renner, and H. Strasdat, See, walk, and kick: Humanoid robots start to play soccer, 2006 6th IEEE-RAS International Conference on Humanoid Robots, pp.497-503, 2006.
DOI : 10.1109/ICHR.2006.321319
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.68.3374

S. Carpin and E. Pagello, The challenge of motion planning for human robots playing soccer, Workshop on Humanoid Soccer Robots of the 2006 IEEE-RAS International Conference on Humanoid Robots, pp.71-77, 2006.

C. De-boor, A Pratical Guide to Splines, 1978.

P. Wieber, F. Billet, L. Boissieux, and R. Pissard-gibollet, The humans toolbox, a homogeneous framework for motion capture, analysis and simulation, the ninth ISB Symposium on 3D analysis of human movement, 2006.

W. Khalil and E. Dombre, Modeling, Identification and Control of Robots, Applied Mechanics Reviews, vol.56, issue.3, 2002.
DOI : 10.1115/1.1566397

M. Vukobratovic and D. Juricic, Contribution to the Synthesis of Biped Gait, IEEE Transactions on Biomedical Engineering, vol.16, issue.1, pp.1-6, 1969.
DOI : 10.1109/TBME.1969.4502596

A. I. Vaz, E. M. Fernandes, and M. P. Gomes, Robot trajectory planning with semi-infinite programming, European Journal of Operational Research, vol.153, issue.3, pp.607-617, 2004.
DOI : 10.1016/S0377-2217(03)00266-2

R. Hettich and K. O. Kortanek, Semi-Infinite Programming: Theory, Methods, and Applications, SIAM Review, vol.35, issue.3, pp.380-429, 1993.
DOI : 10.1137/1035089

A. Piazzi and A. Visioli, Global minimum-time trajectory planning of mechanical manipulators using interval analysis, International Journal of Control, vol.71, issue.4, pp.631-652, 1998.
DOI : 10.1080/002071798221713

Y. Uno, M. Kawato, and R. Suzuki, Formation and control of optimal trajectory in human multijoint arm movement, Biological Cybernetics, vol.61, issue.2, pp.89-101, 1989.
DOI : 10.1007/BF00204593

A. Escande, S. Miossec, and A. Kheddar, Continuous gradient proximity distance for humanoids free-collision optimized-postures, 2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007.
DOI : 10.1109/ICHR.2007.4813867

E. Hansen and G. Walster, AN OVERVIEW OF GLOBAL OPTIMIZATION USING INTERVAL ANALYSIS, 2004.
DOI : 10.1016/B978-0-12-505630-4.50021-3

N. Ramdani, M. Gouttefarde, F. Pierrot, and J. P. Merlet, First results on the design of high speed parallel robots in presence of uncertainty, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2410-2415, 2008.
DOI : 10.1109/IROS.2008.4650905
URL : https://hal.archives-ouvertes.fr/lirmm-00327649

D. Oetomo, D. Daney, and J. P. Merlet, Design Strategy of Serial Manipulators With Certified Constraint Satisfaction, IEEE Transactions on Robotics, vol.25, issue.1, pp.1-11, 2009.
DOI : 10.1109/TRO.2008.2006867
URL : https://hal.archives-ouvertes.fr/hal-00907582

A. C++, Algorithms Library of Interval Analysis for equation Systems Available: http://www-sop.inria.fr/coprin