Dynamic balance control of humanoids for multiple grasps and non coplanar frictional contacts. - Cyrille Collette; Alain Micaelli; Claude Andriot; Pierre Lemerle (Humanoids, 2007)

Dynamic Balance Control Following Disturbance of Virtual Humans. - Cyrille Collette; Alain Micaelli; Pierre Lemerle; Claude Andriot (ISVC (1), 2007)

Robust balance optimization control of humanoid robots with multiple non coplanar grasps and frictional contacts. - Cyrille Collette; Alain Micaelli; Claude Andriot; Pierre Lemerle (ICRA, 2008)

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)