A. Herdt, H. Diedam, P. Wieber, D. Dimitrov, K. Mombaur et al., Online Walking Motion Generation with Automatic Foot Step Placement, Advanced Robotics, vol.24, pp.5-6, 2010.
URL : https://hal.archives-ouvertes.fr/inria-00391408

S. Lengagne, J. Vaillant, E. Yoshida, and A. Kheddar, Generation of whole-body optimal dynamic multi-contact motions, The International Journal of Robotics Research, vol.32, issue.9-10, pp.9-10, 2013.
DOI : 10.1177/0278364913478990
URL : https://hal.archives-ouvertes.fr/lirmm-00819250

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, 2006.
DOI : 10.1109/ROBIO.2006.340170

J. Schulman, Y. Duan, J. Ho, A. Lee, I. Awwal et al., Motion planning with sequential convex optimization and convex collision checking, The International Journal of Robotics Research, vol.32, issue.9, pp.1251-1270, 2014.
DOI : 10.1007/b98874

K. Hauser, Fast interpolation and time-optimization with contact, The International Journal of Robotics Research, vol.17, issue.6, pp.1231-1250, 2014.
DOI : 10.1007/978-0-387-74315-8

S. Lengagne, N. Ramdani, and P. Fraisse, Guaranteed computation of constraints for safe path planning Humanoid Robots (Humanoids), 7th IEEE-RAS International Conference on, 2007.

K. Hauser, Fast dynamic optimization of robot paths under actuator limits and frictional contact, 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014.
DOI : 10.1109/ICRA.2014.6907290

S. Lengagne, P. Mathieu, A. Kheddar, and E. Yoshida, Generation of dynamic multi-contact motions: 2D case studies, 2010 10th IEEE-RAS International Conference on Humanoid Robots, pp.14-20, 2010.
DOI : 10.1109/ICHR.2010.5686836
URL : https://hal.archives-ouvertes.fr/lirmm-00781554

P. Wieber, Some comments on the structure of the dynamics of articulated motion, Fast Motions in Biomechanics and Robotics, 2005.
URL : https://hal.archives-ouvertes.fr/inria-00390428

J. E. Bobrow, B. Martin, G. Sohl, E. Wang, F. C. Park et al., Optimal robot motions for physical criteria, Journal of Robotic Systems, vol.14, issue.12, pp.785-795, 2001.
DOI : 10.1002/rob.8116

A. Escande, S. Miossec, M. Benallegue, and A. Kheddar, A Strictly Convex Hull for Computing Proximity Distances With Continuous Gradients, IEEE Transactions on Robotics, vol.30, issue.3, pp.666-678, 2014.
DOI : 10.1109/TRO.2013.2296332
URL : https://hal.archives-ouvertes.fr/hal-01079783

T. Moulard, F. Lamiraux, K. Bouyarmane, and E. Yoshida, RobOptim: an Optimization Framework for Robotics, The Robotics and Mechatronics Conference (ROBOMEC), 2013.
URL : https://hal.archives-ouvertes.fr/hal-00802083

A. Wächter and L. T. Biegler, On the implementation of an interiorpoint filter line-search algorithm for large-scale nonlinear programming, 2005.

. Fig, Evolution of the contact forces (expressed in the contact surface frame) over time in the single

. Fig, Evolution of the contact forces (expressed in the contact surface frames) over time in the double