. Boulic, A robust approach for the control of the center of mass with inverse kinetics, Bonus dédication inconcevable 2, pp.693-701, 1996.
DOI : 10.1016/S0097-8493(96)00043-X

W. Bruderlin, A. Bruderlin, and L. 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

N. Burtnyk-et-wein-]-burtnyk and M. Et-wein, Interactive skeleton techniques for enhancing motion dynamics in key frame animation, Communications of the ACM, vol.19, issue.10, pp.564-569, 1976.
DOI : 10.1145/360349.360357

. Calinon, Learning and Reproduction of Gestures by Imitation, IEEE Robotics & Automation Magazine, vol.17, issue.2, pp.44-54, 2010.
DOI : 10.1109/MRA.2010.936947

. Calinon, On Learning, Representing, and Generalizing a Task in a Humanoid Robot, IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), vol.37, issue.2, pp.286-298, 2007.
DOI : 10.1109/TSMCB.2006.886952

. Campbell, . Bobick, L. W. Campbell, and A. F. Et-bobick, Recognition of human body motion using phase space constraints, Proceedings of IEEE International Conference on Computer Vision, pp.624-630, 1995.
DOI : 10.1109/ICCV.1995.466880

. Chalodhorn, Humanoid Robot Motion Recognition and Reproduction, Advanced Robotics, vol.1434, issue.3, pp.349-366, 2009.
DOI : 10.1163/156855308X397569

C. Et-hutchinson-]-chaumette, F. Et-hutchinson, and S. , Visual servo control. I. Basic approaches, IEEE Robotics & Automation Magazine, vol.13, issue.4, pp.82-90, 2006.
DOI : 10.1109/MRA.2006.250573

C. Et-hutchinson-]-chaumette, F. Et-hutchinson, and S. , Visual servo control. II. Advanced approaches [Tutorial], IEEE Robotics & Automation Magazine, vol.14, issue.1, pp.109-118, 2007.
DOI : 10.1109/MRA.2007.339609

S. Chiaverini, Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators, IEEE Transactions on Robotics and Automation, vol.13, issue.3, pp.398-410, 1997.
DOI : 10.1109/70.585902

J. J. Craig, Introduction to Robotics : Mechanics and Control, 2004.

. Degallier, A modular bio-inspired architecture for movement generation for the infant-like robot iCub, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008.
DOI : 10.1109/BIOROB.2008.4762847

. Deng, Animating blendshape faces by cross-mapping motion capture data, Proceedings of the 2006 symposium on Interactive 3D graphics and games , SI3D '06, pp.43-48, 2006.
DOI : 10.1145/1111411.1111419

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.108.6316

. Drumwright, Exemplarbased primitives for humanoid movement classification and control, International Conference on Robotics and Automation (ICRA), 2004.

. Drumwright, . Matari´cmatari´c, E. Drumwright, and M. Et-matari´cmatari´c, Generating and recognizing free-space movements in humanoid robots, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003.
DOI : 10.1109/IROS.2003.1248884

[. Souza, Learning inverse kinematics, IEEE/RAS Intelligent Robots and Systems (IROS), 2001.

. Eppner, Imitation learning with generalized task descriptions, 2009 IEEE International Conference on Robotics and Automation, pp.3968-3974, 2009.
DOI : 10.1109/ROBOT.2009.5152466

. Escande, Planning support contactpoints for humanoid robots and experiments on hrp-2 A new approach to visual servoing in robotics, IEEE/RAS Intelligent Robots and Systems (IROS), pp.2974-2979313, 1992.

. Field, Motion segmentation for humanoid control planning The coordination of arm movements : An experimentally confirmed mathematical model, Australasian Conference on Robotics and Automation, pp.1688-1703, 1985.

M. Gleicher, Retargeting motion to new characters, ACM Conference on Computer graphics and interactive techniques (SIGGRAPH), pp.33-42, 1998.

M. Gleicher, More Motion Capture in Games : Can We Make Example- Based Approaches Scale ? Lecture Notes in Computer Science, 2008.

. Gleicher, . Ferrier, M. Gleicher, N. Et-ferrier, E. Gribovskaya et al., Evaluating video-based motion capture Motion Learning and Adaptive Impedance for Robot Control during Physical Interaction with Humans, Computer Animation International Conference on Robotics and Automation (ICRA), pp.75-80, 2002.

. Gu, Action and gait recognition from recovered 3-d human joints, IEEE Transactions on Systems, Man and Cybernetics Part B, vol.40, pp.1021-1033, 2010.

H. Liu, X. W. Liu, and I. Ha, Realtime human motion control with a small number of inertial sensors, Symposium on Interactive 3D Graphics and Games on, I3D '11, pp.133-140, 2011.
DOI : 10.1145/1944745.1944768

. Herzog, Motion imitation and recognition using parametric hidden Markov models, Humanoids 2008, 8th IEEE-RAS International Conference on Humanoid Robots, 2008.
DOI : 10.1109/ICHR.2008.4756002

. Inamura, Embodied Symbol Emergence Based on Mimesis Theory, The International Journal of Robotics Research, vol.23, issue.4, pp.363-377, 2004.
DOI : 10.1177/0278364904042199

M. Jenkins, O. C. Jenkins, and M. Et-matari´cmatari´c, PERFORMANCE-DERIVED BEHAVIOR VOCABULARIES: DATA-DRIVEN ACQUISITION OF SKILLS FROM MOTION, International Journal of Humanoid Robotics, vol.01, issue.02, pp.237-288, 2004.
DOI : 10.1142/S0219843604000186

. Kaelbling, Planning and acting in partially observable stochastic domains, Artificial Intelligence, vol.101, issue.1-2, pp.99-134, 1998.
DOI : 10.1016/S0004-3702(98)00023-X

. Kanoun, Planning foot placements for a humanoid robot: A problem of inverse kinematics, The International Journal of Robotics Research, vol.24, issue.5, pp.476-485, 2010.
DOI : 10.1177/0278364910371238

. Keith, Optimization of tasks warping and scheduling for smooth sequencing of robotic actions, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5354282

URL : https://hal.archives-ouvertes.fr/lirmm-00733383

. Kovar, . Gleicher, L. Kovar, and M. Et-gleicher, Flexible automatic motion blending with registration curves, ACM Eurographics Symposium on Computer Animation, 2003.

. Krüger, The meaning of action : A review on action recognition and mapping, Advanced Robotics, vol.21, issue.13, pp.1473-1501, 2007.

. Kuli´ckuli´c, . Nakamura, D. Kuli´ckuli´c, and Y. Et-nakamura, Incremental learning and memory consolidation of whole body motion patterns, International Conference on Epigenetic Robotics (EPIROB), 2008.

. Kuli´ckuli´c, . Nakamura, D. Kuli´ckuli´c, and Y. Et-nakamura, Scaffolding on-line segmentation of fully body human motion patterns, IEEE/RAS Intelligent Robots and Systems (IROS), 2008.

. Kwon, J. Park-]-kwon, and F. C. Park, Natural Movement Generation Using Hidden Markov Models and Principal Components, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol.38, issue.5, pp.1184-1194, 2008.
DOI : 10.1109/TSMCB.2008.926324

I. Laptev, On Space-Time Interest Points, International Journal of Computer Vision, vol.17, issue.8, pp.107-123, 2005.
DOI : 10.1007/s11263-005-1838-7

J. Lasseter, Principles of traditional animation applied to 3D computer animation, ACM SIGGRAPH Computer Graphics, vol.21, issue.4, pp.35-44, 1987.
DOI : 10.1145/37402.37407

. Lawrence, User's guide for CF- SQP version 2.5 : A C code for solving (large scale) constrained nonlinear (minimax) optimization problems, generating iterates satisfying all inequality constraints, 1997.

. Liang, Learning Atomic Human Actions Using Variable-Length Markov Models, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol.39, issue.1, pp.268-280, 2009.
DOI : 10.1109/TSMCB.2008.2005643

. Liu, . Sarkar, Z. Liu, and S. Et-sarkar, Effect of Silhouette Quality on Hard Problems in Gait Recognition, IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), vol.35, issue.2, pp.170-183, 2005.
DOI : 10.1109/TSMCB.2004.842251

D. G. Luenberger, Linear and nonlinear programming, 1984.
DOI : 10.1007/978-3-319-18842-3

M. Et-chaumette-]-mansard, N. Et-chaumette, and F. , Task Sequencing for High-Level Sensor-Based Control, IEEE Transactions on Robotics, vol.23, issue.1, pp.60-72, 2007.
DOI : 10.1109/TRO.2006.889487

. Mansard, Visuallyguided grasping while walking on a humanoid robot, International Conference on Robotics and Automation (ICRA), pp.3041-3047, 2007.
URL : https://hal.archives-ouvertes.fr/inria-00350654

. Miura, Robot motion remix based on motion capture data towards human-like locomotion of humanoid robots, 2009 9th IEEE-RAS International Conference on Humanoid Robots, pp.596-603, 2009.
DOI : 10.1109/ICHR.2009.5379535

. Moeslund, A survey of advances in vision-based human motion capture and analysis, Computer Vision and Image Understanding, vol.104, issue.2-3, pp.90-126, 2006.
DOI : 10.1016/j.cviu.2006.08.002

. Montecillo-puente, On real-time whole-body human to humanoid motion transfer, International Conference on Informatics in Control, Automation and Robotics (ICINCO), pp.22-31, 2010.

E. H. Moore, On the reciprocal of the general algebraic matrix, Bulletin of the American Mathematical Society, vol.26, pp.394-395, 1920.

. Mori, Human-like action recognition system using features extracted by human, IEEE/RSJ International Conference on Intelligent Robots and System, pp.1214-1220, 2002.
DOI : 10.1109/IRDS.2002.1043908

. Mühlig, Automatic selection of task spaces for imitation learning, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
DOI : 10.1109/IROS.2009.5353894

Y. Nakamura, Advanced Robotics : Redundancy and Optimization, 1990.

. Nakamura, . Hanafusa, Y. Nakamura, and H. Et-hanafusa, Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control, Journal of Dynamic Systems, Measurement, and Control, vol.108, issue.3, pp.163-171, 1986.
DOI : 10.1115/1.3143764

. Nakamura, Task-Priority Based Redundancy Control of Robot Manipulators, The International Journal of Robotics Research, vol.94, issue.3, pp.3-15, 1987.
DOI : 10.1177/027836498700600201

. Nakaoka, Learning from Observation Paradigm: Leg Task Models for Enabling a Biped Humanoid Robot to Imitate Human Dances, The International Journal of Robotics Research, vol.26, issue.8, pp.829-844, 2007.
DOI : 10.1177/0278364907079430

. Nakaoka, Generating whole body motions for a biped humanoid robot from captured human dances, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.3905-3910, 2003.
DOI : 10.1109/ROBOT.2003.1242196

J. Pearl, Probabilistic Reasoning in Intelligent Systems, 1988.

T. Penrose, R. Penrose, and J. A. Et-todd, A generalized inverse for matrices, Mathematical Proceedings of the Cambridge Philosophical Society, vol.11, issue.03, pp.406-413, 1955.
DOI : 10.1093/qmath/2.1.189

. Peters, J. Peters, and S. Et-schaal, Reinforcement learning of motor skills with policy gradients, Neural Networks, vol.21, issue.4, pp.682-697, 2008.
DOI : 10.1016/j.neunet.2008.02.003

. Raab, Magnetic Position and Orientation Tracking System, IEEE Transactions on Aerospace and Electronic Systems, vol.15, issue.5, pp.7090-718, 1979.
DOI : 10.1109/TAES.1979.308860

L. R. Rabiner, A tutorial on hidden markov models and selected applications in speech recognition, 1989.

. Ramos, Dynamic motion capture and edition using a stack of tasks, 2011 11th IEEE-RAS International Conference on Humanoid Robots, 2011.
DOI : 10.1109/Humanoids.2011.6100829

URL : https://hal.archives-ouvertes.fr/hal-00600959

. Rezzoug, A method for estimating three-dimensional human arm movement with two electromagnetic sensors, Computer Methods in Biomechanics and Biomedical Engineering, vol.2000, issue.6, pp.663-668, 2010.
DOI : 10.1016/j.jbiomech.2004.05.042

. Rose, Verbs and adverbs: multidimensional motion interpolation, IEEE Computer Graphics and Applications, vol.18, issue.5, pp.32-40, 1998.
DOI : 10.1109/38.708559

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.501.3120

. Saab, Generic dynamic motion generation with multiple unilateral constraints, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6094795

. Samson, Robot Control : the Task Function Approach, 1991.

. Schaal, Computational approaches to motor learning by imitation, Philosophical Transactions of the Royal Society B: Biological Sciences, vol.358, issue.1431, pp.358537-547, 1431.
DOI : 10.1098/rstb.2002.1258

J. P. Scholz and G. Et-schöner, The uncontrolled manifold concept: identifying control variables for a functional task, Experimental Brain Research, vol.126, issue.3, pp.289-306, 1999.
DOI : 10.1007/s002210050738

L. Sentis, Synthesis and Control of Whole-Body Behaviors in Humanoid Systems, Thèse de doctorat, 2007.

. Shin, Computer puppetry: An importance-based approach, ACM Transactions on Graphics, vol.20, issue.2, pp.67-94, 2001.
DOI : 10.1145/502122.502123

. Shon, Robotic imitation from human motion capture using gaussian processes, International Conference on Humanoid Robots (Humanoids), pp.129-134, 2005.
DOI : 10.1109/ichr.2005.1573557

. Shotton, Real-time human pose recognition in parts from single depth images, CVPR 2011, 2011.
DOI : 10.1109/CVPR.2011.5995316

. Siciliano, . Slotine, B. Siciliano, and J. J. Et-slotine, A general framework for managing multiple tasks in highly redundant robotic systems, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments, 1991.
DOI : 10.1109/ICAR.1991.240390

. Silaghi, Local and Global Skeleton Fitting Techniques for Optical Motion Capture, Workshop on Modelling and Motion Capture Techniques for Virtual Environments (CAPTECH), pp.26-40, 1998.
DOI : 10.1007/3-540-49384-0_3

. So, . Baciu, C. So, and G. Et-baciu, Entropy-based motion extraction for motion capture animation, Computer Animation and Virtual Worlds, vol.7, issue.3-4, pp.225-235, 2005.
DOI : 10.1002/cav.107

. So, . Baciu, C. K. So, and G. Et-baciu, Hypercube sweeping algorithm for subsequence motion matching in large motion databases, Proceedings of the 2006 ACM international conference on Virtual reality continuum and its applications, VRCIA '06, pp.221-228, 2006.
DOI : 10.1145/1128923.1128960

. Sreenivasa, Steering a humanoid robot by its head, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4451-4456, 2009.
DOI : 10.1109/IROS.2009.5354503

. Stilman, Augmented reality for robot development and experimentation, 2005.

. Sugihara, . Nakamura, T. Sugihara, and Y. Et-nakamura, Whole-body cooperative balancing of humanoid robot using COG Jacobian, IEEE/RSJ International Conference on Intelligent Robots and System, 2002.
DOI : 10.1109/IRDS.2002.1041658

. Sugihara, Online dynamical retouch of motion patterns towards animatronic humanoid robots, 5th IEEE-RAS International Conference on Humanoid Robots, 2005., pp.117-122, 2005.
DOI : 10.1109/ICHR.2005.1573555

. Suleiman, On human motion imitation by humanoid robot, 2008 IEEE International Conference on Robotics and Automation, pp.2697-2704, 2008.
DOI : 10.1109/ROBOT.2008.4543619

URL : https://hal.archives-ouvertes.fr/hal-00166838

. Takano, Key feature extraction for probabilistic categorization of human motion patterns, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005., 2005.
DOI : 10.1109/ICAR.2005.1507445

. Tipping, . Bishop, M. E. Tipping, and C. M. Bishop, Probabilistic Principal Component Analysis, Journal of the Royal Statistical Society: Series B (Statistical Methodology), vol.61, issue.3, pp.61611-622, 1999.
DOI : 10.1111/1467-9868.00196

C. W. Wampler, Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods, IEEE Transactions on Systems, Man, and Cybernetics, vol.16, issue.1, pp.93-101, 1986.
DOI : 10.1109/TSMC.1986.289285

. Wang, Gaussian Process Dynamical Models for Human Motion, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.30, issue.2, pp.283-298, 2008.
DOI : 10.1109/TPAMI.2007.1167

W. , C. Wang, L. C. Et-chen, and C. C. , A combined optimization method for solving the inverse kinematics problems of mechanical manipulators, IEEE Transactions on Robotics and Automation, vol.7, issue.4, pp.489-499, 1991.

W. , C. Wei, X. Et-chai, and J. , Videomocap : modeling physically realistic human motion from monocular video sequences, ACM Transactions on Graphics, vol.29, issue.4, pp.421-4210, 2010.

E. Wolovich, W. A. Wolovich, and H. Elliott, A computational technique for inverse kinematics, The 23rd IEEE Conference on Decision and Control, 1984.
DOI : 10.1109/CDC.1984.272258

K. Yamane and J. Et-hodgins, Simultaneous tracking and balancing of humanoid robots for imitating human motion capture data, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2510-2517, 2009.
DOI : 10.1109/IROS.2009.5354750

. Yoshida, Give me the purple ball " -he said to HRP-2 N.14, International Conference on Humanoid Robots (Humanoids), 2007.

. Zordan, V. B. Horst-]-zordan, and N. C. Horst, Mapping optical motion capture data to skeletal motion using a physical model, ACM Eurographics Symposium on Computer Animation, 2003.

.. La-méthode-de-newton, Raphson pour résoudre itérativement x(q) = 0