Benjamin Chrétien, Adrien Escande, Abderrahmane Kheddar. Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots.
IROS: Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. pp.3956-3961,
⟨10.1109/IROS.2015.7353934⟩.
⟨lirmm-01253539⟩