Aurélien Ibanez, Philippe Bidaud, Vincent Padois. Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program. Jadran Lenarčič, Oussama Khatib.
Advances in Robot Kinematics, Springer International Publishing, pp.505--516, 2014, 978-3-319-06698-1.
〈10.1007/978-3-319-06698-1_52〉.
〈hal-01030802〉