A. Aboudonia, N. Scianca, D. D. Simone, L. Lanari, and G. Oriolo, Humanoid gait generation for walk-to locomotion using single-stage MPC, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), vol.50, 2017.
DOI : 10.1109/humanoids.2017.8239554

Z. Aftab, T. Robert, and P. Wieber, Ankle, hip and stepping strategies for humanoid balance recovery with a single Model Predictive Control scheme, 12th IEEE-RAS International Conference on Humanoid Robots, 2012.

, IEEE, p.48, 2012.

J. Ahn, O. Campbell, D. Kim, and L. Sentis, Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles, p.13, 2018.
DOI : 10.1109/iros.2018.8594156
URL : http://arxiv.org/pdf/1807.03415

S. Homsi, A. Sherikov, D. Dimitrov, and P. Wieber, A hierarchical approach to minimum-time control of industrial robots, IEEE International Conference on Robotics and Automation (ICRA), p.26, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01418396

S. Aoi, K. Tsuchiya, and K. Tsujita, Turning control of a biped locomotion robot using nonlinear oscillators, IEEE International Conference on Robotics and Automation, vol.50, 2004.

G. Arechavaleta, J. Laumond, H. Hicheur, and A. Berthoz, An Optimality Principle Governing Human Walking, IEEE Transactions on Robotics, vol.24, issue.1, p.48, 2008.
DOI : 10.1109/tro.2008.915449
URL : https://hal.archives-ouvertes.fr/tel-00260990

H. Asama and T. Fraichard, Inevitable collision states -a step towards safer robots, Advanced Robotics, vol.18, p.14, 2004.
URL : https://hal.archives-ouvertes.fr/inria-00182063

, J.-P. Aubin. Viability theory. Birkhäuser, p.14, 1991.

Y. Ayaz, A. Konno, K. Munawar, T. Tsujita, and M. Uchiyama, Planning footsteps in obstacle cluttered environments, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, p.13, 2009.

S. Behnke, Online trajectory generation for omnidirectional biped walking, Proceedings 2006 IEEE International Conference on Robotics and Automation, vol.50, 2006.

N. Bohórquez, A. Sherikov, D. Dimitrov, and P. Wieber, Safe navigation strategies for a biped robot walking in a crowd, IEEE-RAS International Conference on Humanoid Robots (Humanoids), vol.20, pp.379-386, 2016.

N. Bohórquez and P. Wieber, Adaptive step duration in biped walking: a robust approach to nonlinear constraints, IEEE RAS International Conference on Humanoid Robots, p.47, 2017.

N. Bohórquez and P. Wieber, Adaptive step rotation in biped walking, IEEE/RSJ International Conference on Intelligent Robots and Systems, p.47, 2018.

S. Bouraine, T. Fraichard, and H. Salhi, Provably Safe Navigation for Mobile Robots with Limited Field-of-Views in Dynamic Environments, Autonomous Robots, vol.32, issue.3, p.15, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00768527

S. Boyd and L. Vandenberghe, Convex optimization, vol.40, p.56, 2004.

C. Brasseur, A. Sherikov, C. Collette, D. Dimitrov, and P. Wieber, A robust linear MPC approach to online generation of 3D biped walking motion, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids). Institute of Electrical & Electronics Engineers (IEEE), 2015.
URL : https://hal.archives-ouvertes.fr/hal-01418355

E. M. Bronshtein and L. D. Ivanov, Approximation of convex sets by polyhedrons, Sib. Mat. Zh, issue.16, p.42, 1975.

S. Brossette and P. Wieber, Collision avoidance based on separating planes for feet trajectory generation, Humanoids 2017 -IEEE RAS International Conference on Humanoid Robots, p.56, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01639745

M. Cannon, Lecture Notes: C21 Model Predictive Control, 2018.

J. Chestnutt, J. Kuffner, K. Nishiwaki, and S. Kagami, Planning Biped Navigation Strategies in Complex Environments, IEEE Int. Conf. Humanoid Robots, p.13, 2003.

J. Chestnutt and J. Kuffner, A tiered planning strategy for biped navigation, 4th IEEE/RAS International Conference on Humanoid Robots, p.13, 2004.

J. Chestnutt, M. Lau, G. Cheung, J. Kuffner, J. Hodgins et al., Footstep Planning for the Honda ASIMO Humanoid, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, vol.50, 2005.

J. Chestnutt, P. Michel, J. Kuffner, and T. Kanade, Locomotion among dynamic obstacles for the honda ASIMO, IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, vol.50, 2007.

J. Chestnutt, K. Nishiwaki, J. Kuffner, and S. Kagami, An adaptive action model for legged navigation planning, 7th IEEE-RAS International Conference on Humanoid Robots, p.13, 2007.

C. Chevallereau, J. Grizzle, and C. Shih, Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot, IEEE Transactions on Robotics, vol.25, issue.1, pp.37-50, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00456192

M. Ciocca, P. Wieber, and T. Fraichard, Strong Recursive Feasibility in Model Predictive Control of Biped Walking, HUMANOIDS 2017 -IEEE-RAS International Conference on Humanoid Robots, vol.49, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01618881

S. Collins, A. Ruina, R. Tedrake, and M. Wisse, Efficient Bipedal Robots Based on Passive-Dynamic Walkers. Science, vol.307, issue.5712, pp.1082-1085, 2005.

A. Conn, N. Gould, and P. Toint, Trust region methods, MPS-SIAM Series on Optimization. Society for Industrial and Applied Mathematics, p.44, 2000.

J. G. Da-silva-filho and T. Fraichard, Human Robot Motion: A Shared Effort Approach, European Conference on Mobile Robotics, p.21, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01565873

R. Deits and R. Tedrake, Footstep planning on uneven terrain with mixed-integer convex optimization, IEEE-RAS International Conference on Humanoid Robots, vol.50, 2014.

R. Deits and R. Tedrake, Computing large convex regions of obstacle-free space through semidefinite programming, p.42, 2015.

H. Diedam, Fast nmpc algorithms for humanoid robot walking, p.48, 2009.

M. Diehl, H. J. Ferreau, and N. Haverbeke, Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation, Nonlinear Model Predictive Control, vol.82, pp.391-417, 2009.

M. Diehl and S. Gros, Numerical Optimal Control (preliminary and incomplete draft), p.37, 2017.

D. Dimitrov, P. Wieber, and A. Escande, Multi-Objective Control of Robots, Journal of the Robotics Society of Japan, vol.32, issue.6, p.31, 2014.

D. Dimitrov, A. Sherikov, and P. Wieber, Efficient resolution of potentially conflicting linear constraints in robotics, vol.32, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01183003

A. Escande, N. Mansard, and P. Wieber, Hierarchical quadratic programming: Fast online humanoid-robot motion generation, The International Journal of Robotics Research, vol.32, 2014.
URL : https://hal.archives-ouvertes.fr/hal-00751924

T. N. Faiz, Real-time and optimal trajectory generation for nonlineary systems, p.41, 1999.

P. Fernbach, S. Tonneau, A. Prete, and M. Taïx, A Kinodynamic steeringmethod for legged multi-contact locomotion, IEEE/RSJ International Conference on Intelligent Robots and Systems, page 7p, p.13, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01486933

P. Fernbach, S. Tonneau, and M. Taïx, CROC: Convex Resolution Of Centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem. working paper or preprint, p.54, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01726155

P. Fiorini and Z. Shillert, Motion Planning in Dynamic Environments using Velocity Obstacles, International Journal of Robotics Research, vol.17, p.14, 1998.

D. Fox, W. Burgard, and S. Thrun, The dynamic window approach to collision avoidance, IEEE Robotics & Automation Magazine, vol.4, p.13, 1997.

T. Fraichard, A Short Paper about Motion Safety, Proceedings 2007 IEEE International Conference on Robotics and Automation, p.22, 2007.
URL : https://hal.archives-ouvertes.fr/inria-00134467

T. Fraichard and T. M. Howard, Handbook of intelligent vehicles, chapitre Iterative Motion Planning and Safety Issue, p.13, 2012.

T. Fraichard, R. Paulin, and P. Reignier, Human-Robot Motion: An Attention-Based Navigation Approach, IEEE Int. Symp. on Robot and Human Interactive Communication (ROMAN), p.28, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01018471

Y. Fujimoto and A. Kawamura, Proposal of biped walking control based on robust hybrid position/force control, IEEE International Conference on, vol.3, pp.2724-2730, 1996.

R. J. Griffin, G. Wiedebach, S. Bertrand, A. Leonessa, and J. Pratt, Walking stabilization using step timing and location adjustment on the humanoid robot, Atlas, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p.48, 2017.

J. W. Grizzle, C. Chevallereau, R. W. Sinnet, and A. D. Ames, Models, feedback control, and open problems of 3D bipedal robotic walking, Automatica, vol.50, issue.8, pp.1955-1988, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01676474

K. Harada, M. Morisawa, S. Nakaoka, K. Kaneko, and S. Kajita, Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain. JRM, vol.21, p.13, 2009.

J. Hauser and C. C. Chung, Converse Lyapunov functions for exponentially stable periodic orbits, Systems & Control Letters, vol.23, issue.1, p.15, 1994.

A. Herdt, N. Perrin, and P. Wieber, Walking without thinking about it, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, vol.50, 2010.
URL : https://hal.archives-ouvertes.fr/inria-00567668

A. Herdt, H. Diedam, P. Wieber, D. Dimitrov, K. Mombaur et al., Online Walking Motion Generation with Automatic Foot Step Placement, Advanced Robotics -Utrecht, vol.24, issue.5-6, p.48, 2010.
URL : https://hal.archives-ouvertes.fr/inria-00391408

A. L. Hof, The 'extrapolated center of mass' concept suggests a simple control of balance in walking, Human Movement Science, vol.27, issue.1, p.57, 2008.

S. A. Homsi, Online generation of time-optimal trajectories for industrial robots in dynamic environments. Theses, p.24, 2016.
URL : https://hal.archives-ouvertes.fr/tel-01320711

A. Hornung and M. Bennewitz, Adaptive level-of-detail planning for efficient humanoid navigation, IEEE International Conference on Robotics and Automation, p.13, 2012.

R. Horst, On the convexification of nonlinear programming problems: An applications-oriented survey, European Journal of Operational Research, vol.15, issue.3, p.41, 1984.

W. Hu, I. Chatzinikolaidis, K. Yuan, and Z. Li, Comparison Study of Nonlinear Optimization of Step Durations and Foot Placement for Dynamic Walking, p.48, 2018.

Y. Hurmuzlu, F. Génot, and B. Brogliato, Modeling, stability and control of biped robots-a general framework, Automatica, vol.40, issue.10, pp.1647-1664, 2004.
URL : https://hal.archives-ouvertes.fr/inria-00072297

A. Ibanez, P. Bidaud, and V. Padois, Emergence of humanoid walking behaviors from mixed-integer model predictive control, IEEE/RSJ International Conference on Intelligent Robots and Systems, p.48, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01116331

H. Isermann, Linear lexicographic optimization, Operations-ResearchSpektrum, vol.4, issue.4, p.24, 1982.

, Robots and robotic devices -safety requirements for industrial robotspart 1: Robots. ISO 10218-1:2011. ISO, p.15, 2011.

, Robots and robotic devices -safety requirements for personal care robots, p.15, 2014.

K. L. Johnson, Contact mechanics, 1985.

C. N. Jones and M. Morari, Polytopic Approximation of Explicit Model Predictive Controllers, IEEE Transactions on Automatic Control, vol.55, issue.11, p.42, 2010.

S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada et al., Biped walking pattern generation by using preview control of zeromoment point, Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on, vol.2, p.11, 2003.

K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki et al., Humanoid robot HRP-2, IEEE International Conference on, vol.2, pp.1083-1090, 2004.
URL : https://hal.archives-ouvertes.fr/hal-01276934

O. Kanoun, F. Lamiraux, and P. Wieber, Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task. Robotics, IEEE Transactions on, vol.27, issue.4, pp.785-792, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00486755

E. C. Kerrigan, Robust constraint satisfaction: Invariant sets and predictive control, p.18, 2001.

M. Khadiv, A. Herzog, S. Moosavian, and L. Righetti, Step Timing Adjustment: A Step Toward Generating Robust Gaits, Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots, vol.48, 2016.

O. Khatib, Real-Time Obstacle Avoidance for Manipulators and Mobile Robots, The International Journal of Robotics Research, vol.5, issue.1, p.13, 1986.

T. Koolen, T. Boer, J. Rebula, A. Goswami, and J. Pratt, Capturabilitybased analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models, The International Journal of Robotics Research, vol.31, issue.9, p.57, 2012.

P. Kryczka, P. Kormushev, N. G. Tsagarakis, and D. G. Caldwell, Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

, IEEE, p.48, 2015.

S. Kuindersma, R. Deits, M. Fallon, A. Valenzuela, H. Dai et al., Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot, Autonomous Robots, vol.40, issue.3, p.13, 2015.

F. Large, C. Laugier, and Z. Shiller, Navigation Among Moving Obstacles Using the NLVO: Principles and Applications to Intelligent Vehicles, Autonomous Robots, vol.19, issue.2, p.14, 2005.
URL : https://hal.archives-ouvertes.fr/inria-00182105

J. Latombe, Robot motion planning, p.13, 1991.

]. S. Lavalle, Planning algorithms, vol.22, 2006.
URL : https://hal.archives-ouvertes.fr/hal-01993243

C. T. Lawrence and A. L. Tits, Nonlinear equality constraints in feasible sequential quadratic programming *, Optimization Methods and Software, vol.6, issue.4, pp.265-282, 1996.

C. T. Lawrence and A. L. Tits, A Computationally Efficient Feasible Sequential Quadratic Programming Algorithm, SIAM Journal on Optimization, vol.11, issue.4, pp.1092-1118, 2001.

Y. Lebbah, C. Michel, M. Rueher, D. Daney, and J. Merlet, Efficient and Safe Global Constraints for Handling Numerical Constraint Systems, SIAM Journal on Numerical Analysis, vol.42, issue.5, p.41, 2005.
URL : https://hal.archives-ouvertes.fr/hal-00907765

Y. Lebbah, C. Michel, and M. Rueher, An efficient and safe framework for solving optimization problems, Journal of Computational and Applied Mathematics, vol.199, p.41, 2007.
URL : https://hal.archives-ouvertes.fr/hal-00510304

S. Lengagne, N. Ramdani, and P. Fraisse, Guaranteed Computation of Constraints for Safe path Planning, Humanoids, p.48, 2007.
URL : https://hal.archives-ouvertes.fr/lirmm-00193965

S. Lengagne, P. Fraisse, and N. Ramdani, Planning and fast re-planning of safe motions for humanoid robots: Application to a kicking motion, IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, p.48, 2009.
URL : https://hal.archives-ouvertes.fr/lirmm-00433040

H. Liu, Q. Sun, and T. Zhang, Hierarchical RRT for humanoid robot footstep planning with multiple constraints in complex environments, IEEE/RSJ International Conference on Intelligent Robots and Systems, p.13, 2012.

S. B. Liu, H. Roehm, C. Heinzemann, I. Lutkebohle, J. Oehlerking et al., Provably safe motion of mobile robots in human environments, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p.22, 2017.

W. V. Loock, G. Pipeleers, and J. Swevers, B-spline parameterized optimal motion trajectories for robotic systems with guaranteed constraint satisfaction, Mechanical Sciences, vol.6, issue.2, p.48, 2015.

G. Lorentz, Bernstein polynomials. Mathematical expositions, p.53, 1953.

C. Louembet, Generation de trajectoires optimales pour systemes differentiellement plats application aux manoeuvres d'attitude sur orbite, p.41, 2007.

K. Macek, D. A. Vasquez-govea, T. Fraichard, and R. Y. Siegwart, Towards Safe Vehicle Navigation in Dynamic Urban Scenarios. Automatika, vol.15, 2009.
URL : https://hal.archives-ouvertes.fr/inria-00447452

T. Mcgeer, Passive walking with knees, Proceedings, 1990.

T. Mcgeer, Passive Dynamic Walking, The International Journal of Robotics Research, vol.9, issue.2, pp.62-82, 1990.

T. Mercy, W. V. Loock, and G. Pipeleers, Real-time motion planning in the presence of moving obstacles, European Control Conference (ECC), p.56, 2016.

]. K. Miettinen, Nonlinear multiobjective optimization, vol.30, 1998.

V. T. Minh, Stability for switched dynamic hybrid systems, Mathematical and Computer Modelling, vol.57, issue.1-2, p.49, 2013.

K. Mombaur, A. Truong, and J. Laumond, From human to humanoid locomotion-an inverse optimal control approach, Autonomous Robots, vol.28, issue.3, p.48, 2009.

M. Morisawa, K. Harada, S. Kajita, S. Nakaoka, K. Fujiwara et al., Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution, IEEE International Conference on, pp.3989-3994, 2007.

S. A. Faiz and R. Murray, Differentially Flat Systems with Inequality Constraints: An Approach to Real-Time Feasible Trajectory Generation, Journal of Guidance, Control, and Dynamics, vol.24, issue.2, p.41, 2001.

M. Naveau, M. Kudruss, O. Stasse, C. Kirches, K. Mombaur et al., A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control, IEEE Robotics and Automation Letters, vol.2, issue.1, pp.10-17, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01261415

J. Nocedal and S. J. Wright, Numerical optimization, 2006.

E. R. Panier and A. L. Tits, On combining feasibility, descent and superlinear convergence in inequality constrained optimization, Mathematical Programming, vol.59, issue.1, pp.261-276, 1993.

A. Pekarovskiy, T. Nierhoff, S. Hirche, and M. Buss, Dynamically Consistent Online Adaptation of Fast Motions for Robotic Manipulators, IEEE Transactions on Robotics, vol.34, issue.1, p.54, 2018.

N. Perrin, O. Stasse, L. Baudouin, F. Lamiraux, and E. Yoshida, Fast humanoid robot collision-free footstep planning using swept volume approximations, Robotics. IEEE Transactions on, vol.50, p.439, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00662550

N. Perrin, O. Stasse, F. Lamiraux, Y. J. Kim, and D. Manocha, Real-time footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box, IEEE International Conference on Robotics and Automation, p.13, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00668794

Q. Pham, S. Caron, P. Lertkultanon, and Y. Nakamura, Planning Truly Dynamic Motions: Path-Velocity Decomposition Revisited. CoRR, p.13, 2014.

J. Pratt, J. Carff, S. Drakunov, and A. Goswami, Capture Point: A Step toward Humanoid Push Recovery, Humanoid Robots, 2006 6th IEEE-RAS International Conference on, p.57, 2006.

S. Quinlan and O. Khatib, Elastic Bands: Connecting Path Planning and Control, ICRA (2), p.13, 1993.

H. J. Ralston, Energy-speed relation and optimal speed during level walking, Internationale Zeitschrift für angewandte Physiologie einschließlich Arbeitsphysiologie, vol.17, issue.4, pp.277-283, 1958.

J. B. Rawlings and D. Q. Mayne, Model predictive control: Theory and design, p.15, 2016.

N. Scianca, M. Cognetti, D. D. Simone, L. Lanari, and G. Oriolo, Intrinsically stable MPC for humanoid gait generation, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), p.15, 2016.

M. Seder and I. Petrovic, Dynamic window based approach to mobile robot motion control in the presence of moving obstacles, Proceedings 2007 IEEE International Conference on Robotics and Automation, p.14, 2007.

D. Serra, C. Brasseur, A. Sherikov, D. Dimitrov, and P. Wieber, A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation, IEEE-RAS 2016 -International Conference on Humanoid Robots (Humanoids), pp.932-937, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01418402

A. Sherikov, D. Dimitrov, and P. Wieber, Whole body motion controller with long-term balance constraints, 14th IEEE-RAS International Conference on, vol.9, pp.444-450, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01418363

A. Sherikov, D. Dimitrov, and P. Wieber, Balancing a humanoid robot with a prioritized contact force distribution, Humanoid Robots (Humanoids), 2015 15th IEEE-RAS International Conference on, p.26, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01418358

A. Sherikov, Balance preservation and task prioritization in whole body motion control of humanoid robots, 2016.
URL : https://hal.archives-ouvertes.fr/tel-01335571

B. Siciliano and J. Slotine, A general framework for managing multiple tasks in highly redundant robotic systems, Fifth International Conference on Advanced Robotics Robots in Unstructured Environments, vol.32, 1991.

D. D. Simone, N. Scianca, P. Ferrari, L. Lanari, and G. Oriolo, MPC-based humanoid pursuit-evasion in the presence of obstacles, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol.50, 2017.

K. Sreenath, H. Park, I. Poulakakis, and J. W. Grizzle, A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL, The International Journal of Robotics Research, vol.30, issue.9, pp.1170-1193, 2010.

Z. Sun, Y. Tian, H. Li, and J. Wang, A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control, Optimal Control Applications and Methods, vol.37, issue.6, pp.1139-1161, 2015.

R. Tajima, D. Honda, and K. Suga, Fast running experiments involving a humanoid robot, Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, pp.1571-1576, 2009.

T. Takenaka, T. Matsumoto, and T. Yoshiike, Real time motion generation and control for biped robot -1st report: Walking gait pattern generation, IEEE/RSJ International Conference on, vol.57, pp.1084-1091, 2009.

M. Tamiz, D. F. Jones, and E. El-darzi, A review of Goal Programming and its applications, Annals of Operations Research, vol.58, issue.1, p.31, 1995.

L. Van-den-broeck, M. Diehl, and J. Swevers, A model predictive control approach for time optimal point-to-point motion control. Mechatronics, vol.21, p.23, 2011.

D. Vasquez, T. Fraichard, and C. Laugier, Growing Hidden Markov Models: An Incremental Tool for Learning and Predicting Human and Vehicle Motion, The International Journal of Robotics Research, vol.28, issue.11-12, p.28, 2009.
URL : https://hal.archives-ouvertes.fr/inria-00430582

N. A. Villa and P. Wieber, Model predictive control of biped walking with bounded uncertainties, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), p.17, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01649580

M. Vukobratovi? and B. Borovac, ZERO-MOMENT POINT -THIRTY FIVE YEARS OF ITS LIFE, International Journal of Humanoid Robotics, vol.01, issue.01, pp.157-173, 2004.

P. Wieber, On the stability of walking systems, Proceedings of the International Workshop on Humanoid and Human Friendly Robotics, vol.14, 2002.
URL : https://hal.archives-ouvertes.fr/inria-00390866

P. Wieber, Holonomy and Nonholonomy in the Dynamics of Articulated Motion, Fast Motions in Biomechanics and Robotics, vol.340, pp.411-425, 2006.

P. Wieber, Viability and Predictive Control for Safe Locomotion, IEEE-RSJ International Conference on Intelligent Robots & Systems, p.14, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00390555

P. Wieber, R. Tedrake, and S. Kuindersma, Springer handbook of robotics, chapitre Modeling and Control of Legged Robots, vol.8, 2015.

P. Wieber, A. Escande, D. Dimitrov, and A. Sherikov, Geometric and numerical aspects of redundancy, pp.67-85, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01418462

S. J. Wright and M. J. Tenny, A Feasible Trust-Region Sequential Quadratic Programming Algorithm, SIAM Journal on Optimization, vol.14, issue.4, pp.1074-1105, 2004.

M. Yagi and V. Lumelsky, Synthesis of turning pattern trajectories for a biped robot in a scene with obstacles, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113, vol.50, 2000.

P. Zaytsev, S. J. Hasaneini, and A. Ruina, Two steps is enough: no need to plan far ahead for walking balance, Proceedings of the International Conference on Robotics and Automation (ICRA), p.17, 2015.

M. Zhao and S. Yu, Push recovery by stepping with step timing adjustment, 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), p.48, 2017.

Z. Zhu, W. Zhang, and Z. Geng, A feasible SQP method for nonlinear programming, Applied Mathematics and Computation, vol.215, issue.11, pp.3956-3969, 2010.