S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada et al., Biped walking pattern generation by using preview control of zero-moment point, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.1620-1626, 2003.
DOI : 10.1109/ROBOT.2003.1241826

T. Asfour, P. Azad, N. Vahrenkamp, K. Regenstein, A. Bierbaum et al., Toward humanoid manipulation in human-centred environments, Robotics and Autonomous Systems, vol.56, issue.1, pp.54-65, 2008.
DOI : 10.1016/j.robot.2007.09.013

S. Nakaoka, A. Nakazawa, K. Yokoi, H. Hirukawa, and K. Ikeuchi, Generating whole body motions for a biped humanoid robot from captured human dances, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.3905-3910, 2003.
DOI : 10.1109/ROBOT.2003.1242196

S. Lengagne, N. Ramdani, and P. Fraisse, Guaranteed computation of constraints for safe path planning, 2007 7th IEEE-RAS International Conference on Humanoid Robots, pp.312-317, 2007.
DOI : 10.1109/ICHR.2007.4813886
URL : https://hal.archives-ouvertes.fr/lirmm-00193965

J. Salini, S. Barthélemy, and P. Bidaud, Lqp controller design for generic whole body motion Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2009.

S. Lengagne, N. Ramdani, and P. Fraisse, Planning and Fast Replanning Safe Motions for Humanoid Robots, IEEE Transactions on Robotics, vol.27, issue.6, pp.1095-1106, 2011.
DOI : 10.1109/TRO.2011.2162998
URL : https://hal.archives-ouvertes.fr/lirmm-00433040

F. Montecillo-puente, M. N. Sreenivasa, and J. Laumond, On realtime whole-body human to humanoid motion transfer, Proceedings of International Conference on Informatics in Control, Automation and Robotics (ICINCO'10), pp.22-31, 2010.

S. Kim, C. Kim, B. You, and S. Oh, Stable whole-body motion generation for humanoid robots to imitate human motions, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2518-2524, 2009.
DOI : 10.1109/IROS.2009.5354271

N. S. Pollard, J. K. Hodgins, M. J. Riley, and C. G. Atkeson, Adapting human motion for the control of a humanoid robot, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.1390-1397, 2002.
DOI : 10.1109/ROBOT.2002.1014737

Y. Nakamura, H. Hanafusa, and T. Yoshikawa, Task-Priority Based Redundancy Control of Robot Manipulators, The International Journal of Robotics Research, vol.94, issue.3, pp.3-15, 1987.
DOI : 10.1177/027836498700600201

B. Siciliano and J. Slotine, A general framework for managing multiple tasks in highly redundant robotic systems, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments, pp.1211-1216, 1991.
DOI : 10.1109/ICAR.1991.240390

O. E. Ramos, L. Saab, S. Hak, and N. Mansard, Dynamic motion capture and edition using a stack of tasks, 2011 11th IEEE-RAS International Conference on Humanoid Robots, pp.224-230, 2011.
DOI : 10.1109/Humanoids.2011.6100829
URL : https://hal.archives-ouvertes.fr/hal-00600959

N. Mansard, O. Stasse, P. Evrard, and A. Kheddar, A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: The stack of tasks, Proceedings of IEEE International Conference on Advanced Robotics, pp.1-6, 2009.
URL : https://hal.archives-ouvertes.fr/lirmm-00796736

L. Sentis and O. Khatib, A whole-body control framework for humanoids operating in human environments, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.2641-2648, 2006.
DOI : 10.1109/ROBOT.2006.1642100

N. Mansard, O. Khatib, and A. Kheddar, A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks, IEEE Transactions on Robotics, vol.25, issue.3, pp.670-685, 2009.
DOI : 10.1109/TRO.2009.2020345
URL : https://hal.archives-ouvertes.fr/lirmm-00798676

D. Galdeano, V. Bonnet, M. Bennehar, P. Fraisse, and A. Chemori, Partial Human Data in Design of Human-Like Walking Control in Humanoid Robotics, 10th International IFAC Symposium on Robot Control (SYROCO'12), pp.485-490, 2012.
DOI : 10.3182/20120905-3-HR-2030.00187
URL : https://hal.archives-ouvertes.fr/hal-00717243

S. Kajita, H. Hirukawa, K. Harada, and K. Yokoi, IntroductionàIntroduction`Introductionà la commande des robots humanoides, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00352801

Z. Li, S. S. Sastry, and R. Murray, A mathematical introduction to robotic manipulation, 1994.

S. Cotton, P. Fraisse, and A. P. Murray, On the Manipulability of the Center of Mass of Humanoid Robots: Application to Design, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, pp.1259-1267, 2010.
DOI : 10.1115/DETC2010-28162

L. Sentis, J. Park, and O. Khatib, Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots, IEEE Transactions on Robotics, vol.26, issue.3, pp.483-501, 2010.
DOI : 10.1109/TRO.2010.2043757