Sébastien Dalibard, Antonio El Khoury, Florent Lamiraux, Alireza Nakhaei, Michel Taïx, Jean-Paul Laumond. Dynamic walking and whole-body motion planning for humanoid robots: an integrated approach. I. J. Robotic Res., 32(9-10):1089-1103, 2013. [doi]
Abstract is missing.