A new optimization based approach for push recovery in case of multiple noncoplanar contacts. - Darine Mansour; Alain Micaelli; Adrien Escande; Pierre Lemerle (Humanoids, 2011)

A computational approach for push recovery in case of multiple noncoplanar contacts. - Darine Mansour; Alain Micaelli; Pierre Lemerle (IROS, 2011)

Humanoid push recovery control in case of multiple non-coplanar contacts. - Darine Mansour; Alain Micaelli; Pierre Lemerle (IROS, 2013)