P. M. Wensing and D. E. Orin, Generation of dynamic humanoid behaviors through task-space control with conic optimization, 2013 IEEE International Conference on Robotics and Automation, pp.6-10, 2013.
DOI : 10.1109/ICRA.2013.6631008

H. Audren, J. Vaillant, A. Kheddar, A. Escande, K. Kaneko et al., Model preview control in multi-contact motion-application to a humanoid robot, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.
DOI : 10.1109/IROS.2014.6943129

URL : https://hal.archives-ouvertes.fr/lirmm-01256511

C. Brasseur, A. Sherikov, C. Collette, D. Dimitrov, and P. Wieber, A robust linear MPC approach to online generation of 3D biped walking motion, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), pp.595-601, 2015.
DOI : 10.1109/HUMANOIDS.2015.7363423

URL : https://hal.archives-ouvertes.fr/hal-01418355

S. Caron and A. Kheddar, Multi-contact walking pattern generation based on model preview control of 3D COM accelerations, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016.
DOI : 10.1109/HUMANOIDS.2016.7803329

URL : https://hal.archives-ouvertes.fr/hal-01349880

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 : 10.1016/S0020-7462(01)00033-6

J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette et al., Multi-contact vertical ladder climbing with an HRP-2 humanoid, Autonomous Robots, vol.32, issue.9???10, 2016.
DOI : 10.1177/0278364913488805

URL : https://hal.archives-ouvertes.fr/hal-01276931

H. Audren and A. Kheddar, 3d robust stability polyhedron in multicontact Available: https, IEEE Transactions on Robotics, 2017.

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

P. Wieber, Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations, 2006 6th IEEE-RAS International Conference on Humanoid Robots, 2006.
DOI : 10.1109/ICHR.2006.321375

URL : https://hal.archives-ouvertes.fr/inria-00390462

A. Herzog, N. Rotella, S. Schaal, and L. Righetti, Trajectory generation for multi-contact momentum control, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015.
DOI : 10.1109/HUMANOIDS.2015.7363464

T. Erez, K. Lowrey, Y. Tassa, V. Kumar, S. Kolev et al., An integrated system for real-time model predictive control of humanoid robots, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp.292-299, 2013.
DOI : 10.1109/HUMANOIDS.2013.7029990

B. Chrétien, A. Escande, and A. Kheddar, GPU Robot Motion Planning Using Semi-Infinite Nonlinear Programming, IEEE Transactions on Parallel and Distributed Systems, vol.27, issue.10, 2016.
DOI : 10.1109/TPDS.2016.2521373

K. Hauser, Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds, Robotics: Science and Systems IX, 2013.
DOI : 10.15607/RSS.2013.IX.022

M. Naveau, M. Kudruss, O. Stasse, C. Kirches, K. Mombaur et al., A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control, IEEE Robotics and Automation Letters, vol.2, issue.1, pp.10-17, 2017.
DOI : 10.1109/LRA.2016.2518739

URL : https://hal.archives-ouvertes.fr/hal-01261415

S. Caron and A. Kheddar, Dynamic walking over rough terrains by nonlinear predictive control of the floating-base inverted pendulum, Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01481052

T. Bretl and S. Lall, Testing Static Equilibrium for Legged Robots, IEEE Transactions on Robotics, vol.24, issue.4, pp.794-807, 2008.
DOI : 10.1109/TRO.2008.2001360

G. H. Hardy and E. M. Wright, An introduction to the theory of numbers, Bulletin of the American Mathematical Society, vol.35, issue.6, 1979.
DOI : 10.1090/S0002-9904-1929-04793-1

K. Schittkowski, QL: A fortran code for convex quadratic programming -user's guide, Tech. Rep, 2011.

S. Russell and P. Norvig, Artificial Intelligence: a Modern Approach, 2001.

K. A. Dowsland, Simulated annealing in Modern Heuristic Techniques for Combinatorial Problems, 1995.

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 and A. Kheddar, Humanoid Robot Locomotion and Manipulation Step Planning, Special Issue on Cutting edge robotics in Japan, pp.1099-1126, 2012.
DOI : 10.1016/0094-114X(95)00069-B

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

G. Cappellini, Y. P. Ivanenko, N. Dominici, R. E. Poppele, and F. Lacquaniti, Motor Patterns During Walking on a Slippery Walkway, Journal of Neurophysiology, vol.103, issue.2, pp.746-760, 2010.
DOI : 10.1152/jn.00499.2009

H. Audren, A. Kheddar, and P. Gergondet, Stability polygons reshaping and morphing for smooth multi-contact transitions and force control of humanoid robots, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp.1037-1044, 2016.
DOI : 10.1109/HUMANOIDS.2016.7803399

URL : https://hal.archives-ouvertes.fr/lirmm-01256512