K. Nagasaka, T. Fukushima, and H. Shimomura, Whole-body control of a humanoid robot based on generalized inverse dynamics and multi-contact stabilizer that can take acount of contact constraints, Robotics Symposium, 2012.

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

L. Saab, O. E. Ramos, F. Keith, N. Mansard, P. Soù et al., Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints, IEEE Transactions on Robotics, vol.29, issue.2, pp.346-362, 2012.
DOI : 10.1109/TRO.2012.2234351

URL : https://hal.archives-ouvertes.fr/lirmm-00831097

C. Collette, A. Micaelli, C. Andriot, and P. Lemerle, Dynamic balance control of humanoids for multiple grasps and non coplanar frictional contacts, 2007 7th IEEE-RAS International Conference on Humanoid Robots, pp.81-88, 2007.
DOI : 10.1109/ICHR.2007.4813852

J. Salini, S. Barthélemy, and P. Bidaud, LQP-Based Controller Design for Humanoid Whole-Body Motion, pp.177-184, 2010.
DOI : 10.1007/978-90-481-9262-5_19

C. Ott, M. A. Roa, and G. Hirzinger, Posture and balance control for biped robots based on contact force optimization, 2011 11th IEEE-RAS International Conference on Humanoid Robots, pp.26-33, 2011.
DOI : 10.1109/Humanoids.2011.6100882

K. Bouyarmane and A. Kheddar, Multi-contact stances planning for multiple agents, 2011 IEEE International Conference on Robotics and Automation, pp.9-13, 2011.
DOI : 10.1109/ICRA.2011.5980088

URL : https://hal.archives-ouvertes.fr/lirmm-00777727

L. Righetti, J. Buchli, M. Mistry, M. Kalakrishnan, and S. Schaal, Optimal distribution of contact forces with inverse-dynamics control, The International Journal of Robotics Research, vol.37, issue.3, pp.280-298, 2013.
DOI : 10.1007/978-0-387-74315-8

A. Escande, N. Mansard, and P. Wieber, Hierarchical quadratic programming: Fast online humanoid-robot motion generation, The International Journal of Robotics Research, vol.28, issue.2, 2014.
DOI : 10.1017/CBO9780511804441

URL : https://hal.archives-ouvertes.fr/hal-00751924

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. 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

I. Mordatch, M. De-lasa, and A. Hertzmann, Robust Physics-Based Locomotion Using Low-Dimensional Planning, ACM Transactions on Graphics, vol.29, issue.3, 2010.

K. Bouyarmane and A. Kheddar, Humanoid Robot Locomotion and Manipulation Step Planning, Advanced Robotics, vol.31, issue.2, pp.1099-1126, 2012.
DOI : 10.1080/01691864.2012.686345

URL : https://hal.archives-ouvertes.fr/lirmm-00777728

A. Escande, A. Kheddar, and S. Miossec, Planning contact points for humanoid robots, Robotics and Autonomous Systems, vol.61, issue.5, pp.428-442, 2013.
DOI : 10.1016/j.robot.2013.01.008

URL : https://hal.archives-ouvertes.fr/lirmm-00800829

K. Bouyarmane, J. Vaillant, F. Keith, and A. Kheddar, Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), 2012.
DOI : 10.1109/HUMANOIDS.2012.6651541

K. Bouyarmane and A. Kheddar, Using a multi-objective controller to synthesize simulated humanoid robot motion with changing contact configurations, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.25-30, 2011.
DOI : 10.1109/IROS.2011.6094483

URL : https://hal.archives-ouvertes.fr/lirmm-00765820

J. Pan and D. Manocha, GPU-based parallel collision detection for fast motion planning, The International Journal of Robotics Research, vol.72, issue.2, pp.187-200, 2012.
DOI : 10.1017/CBO9780511546877

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.298.4136

J. Schulman, J. Ho, A. Lee, I. Awwal, P. A. Henry et al., Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization, Robotics: Science and Systems IX, 2013.
DOI : 10.15607/RSS.2013.IX.031