Y. Abe, M. Da-silva, and &. Popovi´cpopovi´c, Multiobjective control with frictional contacts, SCA '07 : Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation, pp.249-258, 2007.

A. and ]. R. Alexander, Walking and Running, The Mathematical Gazette, vol.80, issue.488, pp.348-354, 1984.
DOI : 10.2307/3619558

O. Arikan, D. A. Forsyth, &. James, and F. O-'brien, Pushing people around, Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation , SCA '05, pp.59-66, 2005.
DOI : 10.1145/1073368.1073376

G. Ashraf, &. Kok, and C. Wong, Generating consistant motion transition via framespace interpolation, Eurographics, Computer Graphics Forum, vol.19, issue.3, 2000.

G. Ashraf, &. Kok, and C. Wong, Constrained framespace interpolation, Proceedings Computer Animation 2001. Fourteenth Conference on Computer Animation (Cat. No.01TH8596), pp.61-72, 2001.
DOI : 10.1109/CA.2001.982378

G. Ashraf, &. Kok, and C. Wong, Semantic representation and correspondence for state-based motion transition, IEEE Transactions on Visualization and Computer Graphics, vol.9, issue.4, pp.481-499, 2003.
DOI : 10.1109/TVCG.2003.1260743

J. Assa, Y. Caspi, and &. Daniel-cohen-or, Action synopsis, ACM Transactions on Graphics, vol.24, issue.3, pp.667-676, 2005.
DOI : 10.1145/1073204.1073246

&. Aydin-99a-]-yahya-aydin and . Nakajima, Balance control and mass centre adjustment of articulated figures in interactive environments, The Visual Computer, pp.113-123, 1007.

&. Aydin-99b-]-yahya-aydin and . Nakajima, Realistic Articulated Character Positioning and Balance Control in Interactive Environments, Proceedings of the Computer Animation, CA '99, p.160, 1999.

P. Baerlocher and &. Boulic, Task-priority formulations for the kinematic control of highly redundant articulated structures, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), pp.323-329, 1998.
DOI : 10.1109/IROS.1998.724639

. Bibliographie-paolo-baerlocher-&-ronan and . Boulic, Kinematic control of the mass properties of redundant articulated bodies, Proceedings. ICRA '00. IEEE International Conference on, pp.2557-2562, 2000.

P. Baerlocher and &. Boulic, An inverse kinematics architecture enforcing an arbitrary number of strict priority levels, The Visual Computer, vol.13, issue.6, pp.402-417, 2004.
DOI : 10.1007/s00371-004-0244-4

]. G. Bingham, Kinematic form and scaling: Further investigations on the visual perception of lifted weight., Journal of Experimental Psychology: Human Perception and Performance, vol.13, issue.2, pp.155-177, 1987.
DOI : 10.1037/0096-1523.13.2.155

R. Boulic and &. Daniel-thalmann, Combined Direct and Inverse Kinematic Control for Articulated Figure MotionEditing, Computer Graphics Forum, vol.2, issue.4, 1992.

R. Boulic, R. Mas, and &. Daniel-thalmann, A robust approach for the control of the center of mass with inverse kinetics, Computers & Graphics, vol.20, issue.5, pp.693-701, 1996.
DOI : 10.1016/S0097-8493(96)00043-X

R. Boulic, P. Bécheiraz, L. Emering, and &. Daniel-thalmann, Integration of motion control techniques for virtual human and avatar real-time animation, Proceedings of the ACM symposium on Virtual reality software and technology , VRST '97, pp.111-118, 1997.
DOI : 10.1145/261135.261156

A. Bruderlin and &. Williams, Motion signal processing, Proceedings of the 22nd annual conference on Computer graphics and interactive techniques , SIGGRAPH '95, pp.97-104, 1995.
DOI : 10.1145/218380.218421

J. E. Chadwick, D. R. Haumann, and &. R. Parent, Layered construction for deformable animated characters, SIGGRAPH '89 : Proceedings of the 16th annual conference on Computer graphics and interactive techniques, pp.243-252, 1989.

J. Thierry-chaminade, &. Hodgins, and . Kawato, Anthropomorphism influences perception of computer-animated characters' actions, Social Cognitive and Affective Neuroscience, 2007.

F. Michael and . Cohen, Interactive spacetime control for animation, SIGGRAPH Comput . Graph, vol.26, issue.2, pp.293-302, 1992.

S. Da, Y. Marco-da-silva, &. Abe, and . Popovi´cpopovi´c, Interactive Simulation of Stylized Human Locomotion, ACM Trans. Graph, vol.27, issue.3, 2008.

S. Da, Y. Marco-da-silva, &. Abe, and . Popovi´cpopovi´c, Simulation of Human Motion Data using Short-Horizon Model-Predictive Control, Computer Graphics Forum, vol.27, pp.371-380, 2008.

G. Dyson, The mechanics of athletics, 1977.

M. Rainald, G. N. Ehrig, T. William, R. Duda, &. Markus et al., A survey of formal methods for determining the centre of rotation of ball joints, Journal of Biomechanics, vol.39, pp.2798-2809, 2006.

. Faloutsos-01a-]-petros-faloutsos, &. Michiel-van-de-panne, and . Terzopoulos, Composable controllers for physics-based character animation, SIGGRAPH '01 : Proceedings of the 28th annual conference on Computer graphics and interactive techniques, pp.251-260, 2001.

C. Anthony, &. Fang, S. Nancy, and . Pollard, Efficient synthesis of physically valid human motion, ACM Trans. Graph, vol.22, issue.3, pp.417-426, 2003.

A. George and . Gescheider, Psychophysics : Method, theory, and application, 1985.

M. Gleicher, Motion editing with spacetime constraints, Proceedings of the 1997 symposium on Interactive 3D graphics , SI3D '97, p.139, 1997.
DOI : 10.1145/253284.253321

M. Gleicher and &. Peter-litwinowicz, Constraint-based motion adaptation, The Journal of Visualization and Computer Animation, vol.9, issue.2, pp.65-94, 1998.
DOI : 10.1002/(SICI)1099-1778(199804/06)9:2<65::AID-VIS176>3.0.CO;2-Z

M. Gleicher, Motion path editing, Proceedings of the 2001 symposium on Interactive 3D graphics , SI3D '01, pp.195-202, 2001.
DOI : 10.1145/364338.364400

A. Goswami, Foot rotation indicator (FRI) point: a new gait planning tool to evaluate postural stability of biped robots, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), pp.47-52, 1999.
DOI : 10.1109/ROBOT.1999.769929

A. Goswami and &. Vinutha-kallem, Rate of change of angular momentum and balance maintenance of biped robots, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.3785-3790, 2004.
DOI : 10.1109/ROBOT.2004.1308858

S. Guo and &. James-robergé, A High-Level Control Mechanism for Human Locomotion Based on Parametric Frame Space Interpolation, Proceedings of the Eurographics workshop on Computer animation and simulation '96, pp.95-107, 1996.
DOI : 10.1007/978-3-7091-7486-9_7

H. Hanafusa, T. Yoshikawa, and &. Y. Nakamura, Analysis and Control of Articulated Robot with Redundancy, IFAC, 8th Triennal World Congress, pp.1927-1932, 1981.

L. Herda, R. Pl, P. Fua, R. Boulic, and &. Daniel-thalmann, Skeleton-Based Motion Capture for Rebust Reconstruction of Human Motion, Proc. of Computer Animation'2000, 2000.

L. Herda, P. Fua, and R. Pl, ankers, Ronan Boulic & Daniel Thalmann. Using Skeleton-Based Tracking to Increase the Reliability of Optical MotionCapture, Human Movement Science Journal, 2001.

H. Herr and &. Marco-popovic, Angular momentum in human walking, Journal of Experimental Biology, vol.211, issue.4, pp.467-481, 2004.
DOI : 10.1242/jeb.008573

]. H. Hicheur-05a, S. Hicheur, S. Glasauer, &. A. Vieilledent, and . Berthoz, Head direction control during active locomotion in humans Head direction cells and the neural mechanisms of spatial orientation, 2005.

]. H. Hicheur-05b, S. Hicheur, &. A. Vieilledent, and . Berthoz, Head motion in humans alternating between straight and curved walking path: Combination of stabilizing and anticipatory orienting mechanisms, Neuroscience Letters, vol.383, issue.1-2, pp.87-92, 2005.
DOI : 10.1016/j.neulet.2005.03.046

H. Hirukawa, S. Hattori, K. Harada, S. Kajita, K. Kaneko et al., A universal stability criterion of the foot contact of legged robots -adios ZMP. Robotics and Automation, IEEE International Conference on, pp.1976-1983, 2006.

J. K. Hodgins, W. L. Wooten, D. C. Brogan, &. James, and F. O-'brien, Animating human athletics, Proceedings of the 22nd annual conference on Computer graphics and interactive techniques , SIGGRAPH '95, pp.71-78, 1995.
DOI : 10.1145/218380.218414

J. K. Hodgins, J. F. O-'brien, and &. Jack-tumblin, Perception of human motion with different geometric models, IEEE Transactions on Visualization and Computer Graphics, vol.4, issue.4, pp.307-316, 1998.
DOI : 10.1109/2945.765325

A. L. Hof and &. M. Gazendam, The condition for dynamic stability, Journal of Biomechanics, vol.38, issue.1, pp.1-8, 2005.
DOI : 10.1016/j.jbiomech.2004.03.025

A. L. Hof, The equations of motion for a standing human reveal three mechanisms for balance, Journal of Biomechanics, vol.40, issue.2, pp.451-457, 2007.
DOI : 10.1016/j.jbiomech.2005.12.016

K. Iqbal and &. Pai, Predicted region of stability for balance recovery:, Journal of Biomechanics, vol.33, issue.12, pp.1619-1627, 2000.
DOI : 10.1016/S0021-9290(00)00129-9

S. Kajita, H. Hirukawa, K. Harada, and &. Yokoi, Introduction à la commande des robots humanoïdes : De la modélisation à la génération du mouvement, 2009.
DOI : 10.1007/978-2-287-87716-2

H. Ko and &. N. Badler, Animating human locomotion with inverse dynamics, Computer Graphics and Applications IEEE, vol.16, issue.2, pp.50-59, 1996.

T. Komura, E. S. Ho, &. Rynson, and W. H. Lau, Animating reactive motion using momentum-based inverse kinematics, Computer Animation and Virtual Worlds, vol.24, issue.3-4
DOI : 10.1002/cav.101

K. Kondo, Inverse Kinematics of a Human Arm, Journal of Robotics and Systems, vol.2, pp.115-175, 1991.

L. Kovar, M. Gleicher, and &. Pighin, Motion graphs, ACM Trans. Graph, vol.21, issue.3, pp.473-482, 2002.

R. Kulpa and &. Franck-multon, Fast inverse kinematics and kinetics solver for human-like figures. Humanoid Robots, 5th IEEE-RAS International Conference on, pp.38-43, 2005.
DOI : 10.1109/ichr.2005.1573542

URL : https://hal.archives-ouvertes.fr/inria-00441152

R. Kulpa, F. Multon, and &. Bruno-arnaldi, Morphology-independent representation of motions for interactive human-like animation, Eurographics 2005 special issue, pp.343-352, 2005.
DOI : 10.1111/j.1467-8659.2005.00859.x

URL : https://hal.archives-ouvertes.fr/inria-00000220

M. Laurent and &. Thomson, The Role of Visual Information in Control of a Constrained Locomotor Task, Journal of Motor Behavior, vol.3, issue.2, pp.17-37, 1988.
DOI : 10.1037/0096-1523.10.5.683

J. Lee, &. Sung, and Y. Shin, A hierarchical approach to interactive motion editing for human-like figures, Proceedings of the 26th annual conference on Computer graphics and interactive techniques , SIGGRAPH '99, pp.39-48, 1999.
DOI : 10.1145/311535.311539

J. Lee, J. Chai, P. S. Reitsma, J. K. Hodgins, &. Nancy et al., Interactive control of avatars animated with human motion data, ACM Trans. Graph, vol.21, issue.3, pp.491-500, 2002.

J. Lee, &. Kang-hoon, and . Lee, Precomputing avatar behavior from human motion data, Graphical Models, vol.68, issue.2, pp.158-174, 2006.
DOI : 10.1016/j.gmod.2005.03.004

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.107.9466

Z. Liu, &. Michael, and F. Cohen, Decomposition of Linked Figure Motion : Diving, 5th Eurographics Workshop on Animation and Simulation, 1994.

K. Liu and &. Popovi´cpopovi´c, Synthesis of complex dynamic character motion from simple animations, SIGGRAPH '02 : Proceedings of the 29th annual conference on Computer graphics and interactive techniques, pp.408-416, 2002.

L. Liu, K. Yin, T. Michiel-van-de-panne, &. Shao, and . Xu, Sampling-based contact-rich motion control, ACM Trans. Graph, vol.29, issue.4, pp.1-10, 2010.
DOI : 10.1145/1778765.1778865

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.170.6492

&. V. Matsunaga and . Zordan, A dynamics-based comparison metric for motion graphs, CGI, 2007.

S. Ménardais, F. Multon, and &. Bruno-arnaldi, Amélioration des trajectoires acquises par des systèmes optiques pour l'animation de personnages synthétiques. Revue Internationale de CFAO, pp.99-103, 2001.

S. Ménardais, Fusion et adaptation temps réel de mouvements acquis pour l'animation d'humanoidessynthétiques, 2003.

F. Ménardais-04a-]-stéphane-ménardais, R. Multon, &. Kulpa, and . Bruno-arnaldi, Motion blending for real-time animation while accounting for the environment, Computer Graphics International, 2004.

F. Ménardais-04b-]-stéphane-ménardais, R. Multon, &. Kulpa, and . Bruno-arnaldi, Synchronization for dynamic blending of motions, Proceedings of ACM SIG- GRAPH/Eurographics Symposium on Computer Animation, pp.325-336, 2004.

K. Hironori-mitake, T. Asano, M. Aoki, M. Salvati, &. Sato et al., Physics-driven Multi Dimensional Keyframe Animation for Artist-directable Interactive Character, Computer Graphics Forum, vol.24, issue.3, pp.279-287, 2009.
DOI : 10.1111/j.1467-8659.2009.01367.x

T. Molet, R. Boulic, and &. Daniel-thalmann, A Real Time Anatomical Converter For Human Motion Capture, Proceedings of the Eurographics workshop on Computer animation and simulation '96, pp.79-94, 1996.
DOI : 10.1007/978-3-7091-7486-9_6

T. Molet, Z. Huang, R. Boulic, and &. D. Thalmann, An animation interface designed for motion capture, Proceedings. Computer Animation '97 (Cat. No.97TB100120), pp.77-85, 1997.
DOI : 10.1109/CA.1997.601044

I. Mordatch and M. De-lasa-&-aaron-hertzmann, Robust physics-based locomotion using low-dimensional planning, ACM Transactions on Graphics, vol.29, issue.4, pp.1-8, 2010.
DOI : 10.1145/1778765.1778808

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.167.1108

M. Mori, . F. Bukimi-no-tanik, &. T. Macdorman, and . Minato, The uncanny valley, Trans.). Energy, vol.7, issue.4, pp.33-35, 1970.

R. Franck-multon, L. Kulpa, &. Hoyet, and . Komura, Interactive animation of virtual humans based on motion capture data, Comput. Animat. Virtual Worlds, vol.206, issue.5&dash, pp.491-500, 2009.

J. Sullivan, T. Dingliana, &. Giang, K. Mary, and . Kaiser, Evaluating the visual fidelity of physically based animations, ACM Transactions on Graphics, vol.22, issue.3, pp.527-536, 2003.
DOI : 10.1145/882262.882303

E. Otten, Balancing on a narrow ridge: biomechanics and control, Philosophical Transactions of the Royal Society B: Biological Sciences, vol.354, issue.1385, pp.869-875, 1999.
DOI : 10.1098/rstb.1999.0439

Y. Pai and &. Patton, Center of mass velocity-position predictions for balance control, Journal of Biomechanics, vol.30, issue.4, pp.347-354, 1997.
DOI : 10.1016/S0021-9290(96)00165-0

J. Pettré and &. Jean-paul-laumond, A motion capture-based control-space approach for walking mannequins, Computer Animation and Virtual Worlds, vol.20, issue.2, pp.109-126, 2006.
DOI : 10.1002/cav.76

N. Pollard and &. Paul-reitsma, Animation of humanlike characters : Dynamic motion filtering with a physically plausible contact model, Yale Workshop on Adaptive and Learning Systems, 2001.

M. Popovic, A. Hofmann, and H. Herr, Zero spin angular momentum control: definition and applicability, 4th IEEE/RAS International Conference on Humanoid Robots, 2004., pp.478-493, 2004.
DOI : 10.1109/ICHR.2004.1442139

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.141.6041

M. Popovic, A. Goswami, and &. Herr, Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications, The International Journal of Robotics Research, vol.24, issue.12, pp.1013-1032, 2005.
DOI : 10.1177/0278364905058363

H. Marc, &. Raibert, K. Jessica, and . Hodgins, Animation of dynamic legged locomotion, SIGGRAPH Comput. Graph, vol.25, issue.4, pp.349-358, 1991.

P. Reitsma and &. Pollard, Perceptual metrics for character animation, ACM Transactions on Graphics, vol.22, issue.3, pp.537-542, 2003.
DOI : 10.1145/882262.882304

P. Reitsma, J. Andrews, and &. Pollard, Effect of Character Animacy and Preparatory Motion on Perceptual Magnitude of Errors in Ballistic Motion, Proc. of Eurographics '08, 2008.
DOI : 10.1111/j.1467-8659.2008.01117.x

P. Reitsma, &. Carol, and O. Sullivan, Effect of scenario on perceptual sensitivity to errors in animation, ACM Transactions on Applied Perception, vol.6, issue.3, pp.1-16, 2009.
DOI : 10.1145/1577755.1577758

A. Liu-ren, A. A. Patrick, J. K. Efros, &. Hodgins, M. James et al., A data-driven approach to quantifying natural human motion, ACM Transactions on Graphics, vol.24, issue.3, pp.1090-1097, 2005.
DOI : 10.1145/1073204.1073316

J. Rose and &. J. Gamble, Human walking, 1994.

S. Runeson and &. G. Frykholm, Visual perception of lifted weight., Journal of Experimental Psychology: Human Perception and Performance, vol.7, issue.4, pp.733-740, 1981.
DOI : 10.1037/0096-1523.7.4.733

A. Safonova, J. K. Hodgins, &. Nancy, and S. Pollard, Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces, ACM Transactions on Graphics, vol.23, issue.3, pp.514-521, 2004.
DOI : 10.1145/1015706.1015754

A. Safonova, &. Jessica, and K. Hodgins, Analyzing the physical correctness of interpolated human motion, Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation , SCA '05, pp.171-180, 2005.
DOI : 10.1145/1073368.1073392

P. Sardain and &. Bessonnet, Forces acting on a biped robot Center of pressure-zero moment point. Systems, Man and Cybernetics, Part A, IEEE Transactions on, vol.34, issue.5, pp.630-637, 2004.

H. Shin, J. Lee, S. Y. Shin, and &. Michael-gleicher, Computer puppetry: An importance-based approach, ACM Transactions on Graphics, vol.20, issue.2, pp.67-94, 2001.
DOI : 10.1145/502122.502123

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.16.5055

H. Shin, L. Kovar, and &. Michael-gleicher, Physical Touch-Up of Human Motions, PG '03 : Proceedings of the 11th Pacific Conference on Computer Graphics and Applications, 2003.

T. Shiratori, B. Coley, R. Cham, &. Jessica, and K. Hodgins, Simulating balance recovery responses to trips based on biomechanical principles, Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA '09, pp.37-46, 2009.
DOI : 10.1145/1599470.1599475

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.153.2180

B. Siciliano and &. E. Slotine, A general framework for managing multiple tasks in highly redundant robotic systemsRobots in Unstructured Environments', 91 ICAR, Fifth International Conference on, pp.1211-1216, 1991.

T. Takenaka, T. Hasegawa, and . Honda, Gait Generation System for a Legged Mobile Robot, 1994.

D. Tolani, A. Goswami, &. Norman, and I. Badler, Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs, Graphical Models, vol.62, issue.5, pp.353-388, 2000.
DOI : 10.1006/gmod.2000.0528

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.19.4638

Y. Tsai, W. Lin, K. B. Cheng, J. Lee, &. Tong-yee et al., Real-Time Physics-Based 3D Biped Character Animation Using an Inverted Pendulum Model, IEEE Transactions on Visualization and Computer Graphics, vol.10, issue.16 2, pp.325-337, 2010.

M. Unuma and &. Takeuchi, Generation of Human Motion with Emotion, Proceedings of Computer Animation'91, pp.77-88, 1991.
DOI : 10.1007/978-4-431-66890-9_6

M. Unuma and &. Takeuchi, Generation of human walking motion with emotion for computer animation, In Trans. Inst. Electron. Inf. Commun. Eng, pp.77-88, 1993.

M. Unuma, K. Anjyo, &. Takeuchi, B. J. Van-basten, and &. A. Egges, Fourier principles for emotionbased human figure animation Evaluating distance metrics for animation blending, Proceedings of the 22nd annual conference on Computer graphics and interactivetechniques Proceedings of the 4th International Conference on Foundations of Digital Games, FDG '09, pp.91-96, 1995.

B. Michiel-van-de-panne, R. Kim, and E. Flume, Virtual Wind-up Toys for Animation, Proceedings of Graphics Interface '94, pp.208-215, 1994.

N. Vignais, R. Kulpa, C. Craig, S. Brault, F. Multon et al., Influence of the Graphical Levels of Detail of a Virtual Thrower on the Perception of the Movement, Presence: Teleoperators and Virtual Environments, vol.21, issue.1, 2010.
DOI : 10.1162/105474698565686

URL : https://hal.archives-ouvertes.fr/inria-00536589

M. Vukobratovic and &. D. Juricic, Contribution to the Synthesis of Biped Gait, IEEE Transactions on Biomedical Engineering, vol.16, issue.1, pp.1-6, 1969.
DOI : 10.1109/TBME.1969.4502596

M. Vukobratovic, B. Borovac, D. Surla, and &. D. Stokic, Scientific fundamentals of robotics 7. biped locomotion : Dynamics, stability, control and application, 1990.

X. Wang, A behavior-based inverse kinematics algorithm to predict arm prehension postures for computer-aided ergonomic evaluation, Journal of Biomechanics, vol.32, issue.5, pp.453-460, 1999.
DOI : 10.1016/S0021-9290(99)00023-8

J. Wang and &. Bodenheimer, An evaluation of a cost metric for selecting transitions between motion segments, SCA '03 : Proceedings of the 2003 ACM SIG- GRAPH/Eurographics symposium on Computer animation, pp.232-238

J. M. Wang and D. J. Fleet-&-aaron-hertzmann, Optimizing walking controllers for uncertain inputs and environments, ACM Trans. Graph, vol.29, issue.4, pp.1-8, 2010.

. Wikipedia and . Wikipedia, Uncanny valley

]. D. Wiley and &. J. Hahn, Interpolation Synthesis of Articulated Figure Motion, IEEE Computer Graphics and Application, vol.17, issue.6, 1997.

W. Da, Human balance and posture control during standing and walking, Gait & Posture, vol.3, issue.4, pp.193-214, 1995.

A. Witkin and &. Kass, Spacetime constraints, SIGGRAPH '88 : Proceedings of the 15th annual conference on Computer graphics and interactive techniques, pp.159-168, 1988.
DOI : 10.1145/54852.378507

L. Wayne, &. Wooten, K. Jessica, and . Hodgins, Animation of Human Diving, Computer Graphics Forum, vol.15, issue.1, pp.3-14, 1996.

L. Wayne, &. Wooten, K. Jessica, and . Hodgins, Simulation of leaping, tumbling, landing, and balancing humans, IEEE International Conference On Robotics ans Automation, 2000.

Z. Wu and . Popovi´cpopovi´c, Q2P, ACM Transactions on the Web, vol.10, issue.2, pp.1-10, 2010.
DOI : 10.1145/2873061

Y. Thomas, G. Yeh, . Reinman, and J. Sanjay, Fool me twice : Exploring and exploiting error tolerance in physics-based animation, ACM Trans. Graph, vol.29, issue.1, 2009.

V. M. Zatsiorsky, V. N. Seluyanov, and &. L. Chugunova, Methods of determining massinertial characteristics of human body segments, Contemporary Problems of Biomechanics, 1990.

D. L. Zatsiorsky and V. M. King, An algorithm for determining gravity line location from posturographic recordings, Journal of Biomechanics, vol.31, issue.2, pp.161-164, 1998.
DOI : 10.1016/S0021-9290(97)00116-4

B. Zordan, &. Jessica, and K. Hodgins, Motion capture-driven simulations that hit and react, Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation , SCA '02, pp.89-96, 2002.
DOI : 10.1145/545261.545276

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.644.5768

A. Victor-brian-zordan, B. Majkowska, M. Chiu, and . Fast, Dynamic response for motion capture animation, ACM Transactions on Graphics, vol.24, issue.3, pp.697-701, 2005.
DOI : 10.1145/1073204.1073249

S. Motion-capture, 14 I.5 a) Inverse Kinematics on a two body structure, with R and E being fixed. The joind I has a infinity of solution on the drawn circle. b) Same problem with a three body structure where the solution space is higher, p.16

]. Kulpa-05a, Adaptation of the pose of a humanoid to satisfy as much as possible kinematic constraints while preserving balance, p.35

. .. Bos, Left: distance to the center of the base of support with red being the limit. First and second inner limit represent respectively a distance of 50% and 80% of the distance from the center to the limit. Right: model of the corresponding areas, Base of support with two feet on the floor, p.47

B. Appendix, 1 Sketch of a 3D foot with the different forces and torques applied on the foot, and the forces locations, Foot Rotation Indicator B, p.113

C. Appendix and C. Momentum, 1 Three main models commonly used in the literature. The virtual human is represented as a) a particle of mass m located at the center of mass of the character (pendulum model), b) a set of particles (system of particles model) or c) a set of rigid segments (articulated rigid body model) Only the lower body is represented by simplicity, p.116