Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber. Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints.
ICRA 2010 - IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.3733-3738, 2010,
〈10.1109/ROBOT.2010.5509953〉.
〈hal-00484853〉