K. Hauser, T. Bretl, and J. Latombe, Non-gaited humanoid locomotion planning, IEEE-RAS International Conference on Humanoid Robots, pp.7-12, 2005.

A. Escande, A. Kheddar, and S. Miossec, Planning support contactpoints for humanoid robots and experiments on HRP-2, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2974-2979, 2006.

A. Escande, A. Kheddar, S. Miossec, and S. Garsault, Planning support contact-points for acyclic motions and experiments on HRP-2, International Symposium on Experimental Robotics, 2008.
URL : https://hal.archives-ouvertes.fr/lirmm-00798815

S. M. Lavalle, Planning Algorithms, 2006.

L. E. Kavraki, P. Svetska, J. C. Latombe, and M. H. Overmars, Probabilistic roadmaps for path planning in high-dimensional configuration spaces, IEEE Transactions on Robotics and Automation, vol.12, issue.4, pp.566-580, 1996.

J. J. Kuffner and S. M. Lavalle, RRT-connect: An efficient approach to single-query path planning, IEEE International Conference on Robotics and Automation, pp.995-1001, 2000.

N. M. Amato, O. B. Bayazit, C. L. Dale, C. Jones, and D. Vallejo, OBPRM: An obstacle-based PRM for 3D workspaces, Workshop on Algorithmic Foundations of Robotics, pp.155-168, 1998.

A. T. Wood, Simulation of the von mises fisher distribution, Communications in statistics. Simulation and computation, vol.23, issue.1, pp.157-164, 1994.

J. Cortes, T. Simeon, and J. P. Laumond, A random loop generator for planning the motions of closed kinematic chains using PRM methods, IEEE International Conference on Robotics and Automation, pp.2141-2146, 2002.

M. Stillman, Task constrained motion planning in robot joint space, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3074-3081, 2007.

E. Yoshida, O. Kanoun, C. Esteves-jaramillo, and J. P. Laumond, Task-driven support polygon reshaping for humanoids, IEEE-RAS International Conference on Humanoid Robots, pp.208-213, 2006.

H. Minkowski, Theorie der konvexen korpern, insbesonder der begrundung ihres oberflchenbegriffs, Gesammelte Abhandlungen, vol.2, pp.131-229, 1911.

J. Farkas, Uber der einfachen ungleichungen, Journal fuer die Reine und Angewandte Mathematik, vol.124, pp.1-27, 1902.

T. S. Motzkin, H. Raiffa, G. L. Thomson, and R. M. , The double description method, Contributions to theory of games, pp.51-73, 1953.

M. W. Padberg, Linear Optimization and Extensions, 1999.

K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki et al., Humanoid robot HRP-2, IEEE International Conference on Robotics and Automation, pp.1083-1090, 2004.
URL : https://hal.archives-ouvertes.fr/hal-01276934