Generation of dynamic multi-contact motions: 2D case studies. - Sebastien Lengagne; Paul Mathieu; Abderrahmane Kheddar; Eiichi Yoshida (Humanoids, 2010)

Generation of dynamic motions under continuous constraints: Efficient computation using B-Splines and Taylor polynomials. - Sebastien Lengagne; Paul Mathieu; Abderrahmane Kheddar; Eiichi Yoshida (IROS, 2010)