Adrien Escande, Abderrahmane Kheddar. Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid. Harada, Kensuke; Yoshida, Eiichi; Yokoi, Kazuhito.
Motion Planning for Humanoid Robots, Springer London, pp.161-179, 2010, 978-1-84996-219-3.
⟨10.1007/978-1-84996-220-9_6⟩.
⟨lirmm-00800801⟩