The following publications are possibly variants of this publication:
- Planning Support Contact-Points for Acyclic Motions and Experiments on HRP-2Adrien Escande, Abderrahmane Kheddar, Sylvain Miossec, Sylvain Garsault. iser 2009: 293-302 [doi]
- Contact planning for acyclic motion with task constraints and experiment on HRP-2 humanoidAdrien Escande, Abderrahmane Kheddar. iros 2009: 416-417 [doi]
- Planning contact supports for acyclic motion with task constraints and experiment on HRP-2Adrien Escande, Abderrahmane Kheddar. syroco 2009: 155-160 [doi]
- Planning contact points for humanoid robotsAdrien Escande, Abderrahmane Kheddar, Sylvain Miossec. ras, 61(5):428-442, 2013. [doi]
- Multi-contact vertical ladder climbing with an HRP-2 humanoidJoris Vaillant, Abderrahmane Kheddar, Hervé Audren, François Keith, Stanislas Brossette, Adrien Escande, Karim Bouyarmane, Kenji Kaneko, Mitsuharu Morisawa, Pierre Gergondet, Eiichi Yoshida, Shuuji Kajita, Fumio Kanehiro. arobots, 40(3):561-580, 2016. [doi]
- Vertical ladder climbing by the HRP-2 humanoid robotJoris Vaillant, Abderrahmane Kheddar, Herve Audren, François Keith, Stanislas Brossette, Kenji Kaneko, Mitsuharu Morisawa, Eiichi Yoshida, Fumio Kanehiro. humanoids 2014: 671-676 [doi]