K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, The development of Honda humanoid robot, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), pp.1321-1326, 1998.
DOI : 10.1109/ROBOT.1998.677288

O. Bruneau, F. B. Ouezdou, and J. Fontaine, Dynamic walk of a bipedal robot having flexible feet, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), pp.512-517, 2001.
DOI : 10.1109/IROS.2001.973408

J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette et al., Multi-contact vertical ladder climbing with an HRP-2 humanoid, Autonomous Robots, vol.32, issue.9???10, pp.561-580, 2016.
DOI : 10.1177/0278364913488805

URL : https://hal.archives-ouvertes.fr/hal-01276931

J. Yamaguchi and A. Takanishi, Multisensor foot mechanism with shock absorbing material for dynamic biped walking adapting to unknown uneven surfaces, 1996 IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems (Cat. No.96TH8242), pp.233-240, 1996.
DOI : 10.1109/MFI.1996.572183

G. De-magistris, A. Pajon, S. Miossec, and A. Kheddar, Humanoid walking with compliant soles using a deformation estimator, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016.
DOI : 10.1109/ICRA.2016.7487319

URL : https://hal.archives-ouvertes.fr/hal-01278856

A. Pajon, G. De-magistris, S. Miossec, K. Kaneko, and A. Kheddar, A humanoid walking pattern generator for sole design optimization, 2015 International Conference on Advanced Robotics (ICAR), 2015.
DOI : 10.1109/ICAR.2015.7251441

URL : https://hal.archives-ouvertes.fr/hal-01278857

G. De-magistris, A. Pajon, S. Miossec, and A. Kheddar, Optimized humanoid walking with soft soles, Robotics and Autonomous Systems, vol.95, pp.52-63, 2017.
DOI : 10.1016/j.robot.2017.05.006

URL : https://hal.archives-ouvertes.fr/hal-01526033

J. D. Schutter, H. Bruyninckx, W. Zhu, and M. Spong, Force control: A bird's eye view, Control Problems in Robotics and Automation, pp.1-17, 1998.
DOI : 10.1007/BFb0015073

K. Bouyarmane, J. Vaillant, F. Keith, and A. Kheddar, Exploring humanoid robots locomotion capabilities in virtual disaster response scenarios, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
DOI : 10.1109/HUMANOIDS.2012.6651541

T. Sugihara, Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator, 2009 IEEE International Conference on Robotics and Automation, pp.1966-1971, 2009.
DOI : 10.1109/ROBOT.2009.5152284

S. Kajita, M. Morisawa, K. Miura, S. Nakaoka, K. Harada et al., Biped walking stabilization based on linear inverted pendulum tracking, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4489-4496, 2010.
DOI : 10.1109/IROS.2010.5651082

M. Morisawa, S. Kajita, F. Kanehiro, K. Kaneko, K. Miura et al., Balance control based on Capture Point error compensation for biped walking on uneven terrain, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pp.734-740, 2012.
DOI : 10.1109/HUMANOIDS.2012.6651601

S. Kajita and B. Espiau, Handbook of Robotics, pp.361-389, 2008.

P. M. Wensing, G. Bin-hammam, B. Dariush, and D. E. Orin, OPTIMIZING FOOT CENTERS OF PRESSURE THROUGH FORCE DISTRIBUTION IN A HUMANOID ROBOT, International Journal of Humanoid Robotics, vol.10, issue.03, p.1350027, 2013.
DOI : 10.1109/TRO.2007.910774

S. Caron, Q. Pham, and Y. Nakamura, ZMP Support Areas for Multicontact Mobility Under Frictional Constraints, IEEE Transactions on Robotics, vol.33, issue.1, pp.67-80, 2017.
DOI : 10.1109/TRO.2016.2623338

URL : http://arxiv.org/abs/1510.03232

G. De-magistris, S. Miossec, A. Escande, and A. Kheddar, Design of optimized soft soles for humanoid robots, Robotics and Autonomous Systems, vol.95, pp.129-142, 2017.
DOI : 10.1016/j.robot.2017.05.005

URL : https://hal.archives-ouvertes.fr/hal-01526014