Humanoid posture generation on non-Euclidean manifolds. - Stanislas Brossette; Adrien Escande; Gregoire Duchemin; Benjamin Chrétien; Abderrahmane Kheddar (Humanoids, 2015)

Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots. - Benjamin Chrétien; Adrien Escande; Abderrahmane Kheddar (IROS, 2015)

GPU Robot Motion Planning Using Semi-Infinite Nonlinear Programming. - Benjamin Chrétien; Adrien Escande; Abderrahmane Kheddar (IEEE Trans. Parallel Distributed Syst., 2016)

GPU-based Semi-Infinite Optimization for Whole-Body Robot Control. (Optimisation semi-infinie sur GPU pour le contrôle corps-complet de robots). - Benjamin Chrétien (2016)