B. Lint and T. Agerwala, Communication Issues in the Design and Analysis of Parallel Algorithms, IEEE Transactions on Software Engineering, vol.7, issue.2, pp.174-188, 1981.
DOI : 10.1109/TSE.1981.230833

C. S. Lee and P. R. Chang, Efficient parallel algorithms for robot forward dynamics computation, IEEE Transactions on Systems, Man, and Cybernetics, vol.18, issue.2, pp.238-251, 1988.
DOI : 10.1109/21.3463

A. Fijany and A. Bejczy, A class of parallel algorithms for computation of the manipulator inertia matrix, IEEE Transactions on Robotics and Automation, vol.5, issue.5, pp.600-615, 1989.
DOI : 10.1109/70.88079

S. Mcmillan, D. E. Orin, and P. Sadayappan, Toward super-real-time simulation of robotic mechanisms using a parallel integration method, IEEE Transactions on Systems, Man, and Cybernetics, vol.22, issue.2, pp.384-391, 1992.
DOI : 10.1109/21.148414

A. Fijany, I. Sharf, and G. M. , Parallel O(log N) algorithms for computation of manipulator forward dynamics, IEEE Transactions on Robotics and Automation, vol.11, issue.3, pp.389-400, 1989.
DOI : 10.1109/70.388780

A. Aghili, A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator: applications to control and simulation, IEEE Transactions on Robotics, vol.21, issue.5, pp.834-849, 2005.
DOI : 10.1109/TRO.2005.851380

K. Yamane and Y. Nakamura, Comparative Study on Serial and Parallel Forward Dynamics Algorithms for Kinematic Chains*, The International Journal of Robotics Research, vol.104, issue.4, pp.622-629, 2009.
DOI : 10.1115/1.3139699

J. Y. Luh, M. W. Walker, and R. P. Paul, On-Line Computational Scheme for Mechanical Manipulators, Journal of Dynamic Systems, Measurement, and Control, vol.102, issue.2, pp.69-76, 1988.
DOI : 10.1115/1.3149599

R. Featherstone, The Calculation of Robot Dynamics Using Articulated-Body Inertias, The International Journal of Robotics Research, vol.93, issue.2, pp.13-30, 1983.
DOI : 10.1115/1.3427888

O. Khatib, A unified approach for motion and force control of robot manipulators: The operational space formulation, IEEE Journal on Robotics and Automation, vol.3, issue.1, pp.43-53, 1988.
DOI : 10.1109/JRA.1987.1087068

G. Rodriguez, Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics, IEEE Journal on Robotics and Automation, vol.3, issue.6, pp.624-639, 1988.
DOI : 10.1109/JRA.1987.1087147

R. Featherstone, A Beginner's Guide to 6-D Vectors (Part 1), IEEE Robotics & Automation Magazine, vol.17, issue.3, pp.83-94, 2010.
DOI : 10.1109/MRA.2010.937853

M. W. Walker and D. E. Orin, Efficient Dynamic Computer Simulation of Robotic Mechanisms, Journal of Dynamic Systems, Measurement, and Control, vol.104, issue.3, pp.205-211, 1988.
DOI : 10.1115/1.3139699

Y. Fujimoto and A. Kawamura, Robust biped walking with force interaction control between foot and ground, Proc. IEEE Intl Conf. on Robotics and Automation (ICRA), pp.2030-2035, 1998.

J. Nakanishi, M. Mistry, and S. Schaal, Inverse Dynamics Control with Floating Base and Constraints, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.1942-1947, 2007.
DOI : 10.1109/ROBOT.2007.363606

M. Mistry, J. Buchli, and S. Schaal, Inverse dynamics control of floating base systems using orthogonal decomposition, 2010 IEEE International Conference on Robotics and Automation, pp.3406-3412, 2010.
DOI : 10.1109/ROBOT.2010.5509646

Y. Nakamura, H. Hirukawa, K. Yamane, S. Kajta, K. Fujiwara et al., Humanoid robot simulator for the METI HRP Project, Robotics and Autonomous Systems, vol.37, issue.2-3, pp.101-114, 2001.
DOI : 10.1016/S0921-8890(01)00152-X

Y. Fujimoto and A. Kawamura, Simulation of an autonomous biped walking robot including environmental force interaction, IEEE Robotics & Automation Magazine, vol.5, issue.2, pp.33-42, 1998.
DOI : 10.1109/100.692339

S. Ivaldi, J. Peters, V. Padois, and F. Nori, Tools for simulating humanoid robot dynamics: A survey based on user feedback, 2014 IEEE-RAS International Conference on Humanoid Robots, pp.842-849, 2014.
DOI : 10.1109/HUMANOIDS.2014.7041462

URL : https://hal.archives-ouvertes.fr/hal-01116148

N. Koenig and A. Howard, Design and use paradigms for gazebo, an open-source multi-robot simulator, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.2149-2154, 2004.
DOI : 10.1109/IROS.2004.1389727

E. Rohmer, S. P. Singh, and M. Freese, V-REP: A versatile and scalable robot simulation framework, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1321-1326, 2013.
DOI : 10.1109/IROS.2013.6696520

O. Michel, Webots: Professional mobile robot simulation, Journal of Advanced Robotics Systems, vol.1, issue.1, pp.39-42, 2004.

B. Ugurlu, J. A. Saglia, N. G. Tsagarakis, S. Morfey, and D. G. Caldwell, Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance, IEEE Transactions on Industrial Electronics, vol.61, issue.10, pp.615431-5443, 2014.
DOI : 10.1109/TIE.2014.2300060

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), pp.337-342, 2012.
DOI : 10.1109/HUMANOIDS.2012.6651541

B. Ugurlu and A. Kawamura, A unified control frame for stable bipedal walking, 2009 35th Annual Conference of IEEE Industrial Electronics, pp.4167-4172, 2009.
DOI : 10.1109/IECON.2009.5415081

K. Hauser, Fast interpolation and time-optimization with contact, The International Journal of Robotics Research, vol.17, issue.6, pp.1231-1250, 2014.
DOI : 10.1109/70.976030

F. Kanehiro, H. Hirukawa, and S. Kajita, OpenHRP: Open Architecture Humanoid Robotics Platform, The International Journal of Robotics Research, vol.23, issue.2, pp.155-165, 2004.
DOI : 10.1115/1.3254979

K. Yamane and Y. Nakamura, Parallel o(logn) algorithm for dynamics simulation of humanoid robots, Proc. IEEE Intl Conf. on Humanoid Robotics, pp.554-559, 2006.

S. Nakaoka, S. Hattori, F. Kanehiro, S. Kajita, and H. Hirukawa, Constraint-based dynamics simulator for humanoid robots with shock absorbing mechanisms, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3641-3647, 2007.
DOI : 10.1109/IROS.2007.4399415

P. Fisette and J. C. Samin, ROBOTRAN: Symbolic Generation of Multi-Body System Dynamic Equations, Advanced Multibody System Dynamics, vol.20, pp.373-378, 1993.
DOI : 10.1007/978-94-017-0625-4_21

C. E. Aguero, N. Koenig, H. Boyer, I. Chen, S. Peters et al., Inside the Virtual Robotics Challenge: Simulating Real-Time Robotic Disaster Response, IEEE Transactions on Automation Science and Engineering, vol.12, issue.2, pp.494-506, 2015.
DOI : 10.1109/TASE.2014.2368997

E. Mingo-hoffman, S. Traversaro, A. Rocchi, M. Ferrati, A. Settimi et al., Yarp Based Plugins for Gazebo Simulator, Modelling and Simulation for Autonomous Systems Workshop (MESAS), 2014.
DOI : 10.1007/978-3-319-13823-7_29

G. Echeverria, S. Lemaignan, A. Degroote, S. Lacroix, M. Karg et al., Simulating Complex Robotic Scenarios with MORSE, Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp.197-208, 2012.
DOI : 10.1007/978-3-642-34327-8_20

URL : https://hal.archives-ouvertes.fr/hal-00988475

M. Freese, S. Singh, A. Degroote, S. Ozaki, and N. Matsuhira, Virtual Robot Experimentation Platform V-REP: A Versatile 3D Robot Simulator, Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp.51-62, 2010.
DOI : 10.1109/TSMC.1986.289285

S. Schaal, The SL simulation and real-time control software package, 2001.

A. Billard, Y. Epars, S. Calinon, S. Schaal, and G. Cheng, Discovering optimal imitation strategies, Robotics and Autonomous Systems, vol.47, issue.2-3, pp.69-77, 2004.
DOI : 10.1016/j.robot.2004.03.002

R. Diankov and J. Kuffner, OpenRAVE: A Planning Architecture for Autonomous Robotics, Robotics Institute, 2008.

Q. Pham and Y. Nakamura, Time-optimal Path Parameterization for critically dynamic motions of humanoid robots, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pp.165-170, 2012.
DOI : 10.1109/HUMANOIDS.2012.6651515

R. Featherstone, Rigid Body Dynamics Algorithms, 2007.
DOI : 10.1007/978-1-4899-7560-7

R. Tedrake, Drake -A planning, control, and analysis toolbox for nonlinear dynamical systems, Massachusetts Institute of Technology

K. Caluwaerts, J. Despraz, A. Iscen, A. P. Sabelhaus, J. Bruce et al., Design and control of compliant tensegrity robots through simulation and hardware validation, Journal of The Royal Society Interface, vol.18, issue.5667, pp.111742-1757, 2014.
DOI : 10.1061/(ASCE)0733-9445(2004)130:10(1454)

T. Koolen, S. Bertrand, G. Thomas, T. Wu, J. Smith et al., Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas, International Journal of Humanoid Robotics, vol.13, issue.01, pp.1650007-1650041, 2016.
DOI : 10.1007/s10514-013-9327-2

S. L. Delp, F. C. Anderson, A. S. Arnold, P. Loan, A. Habib et al., OpenSim: Open-Source Software to Create and Analyze Dynamic Simulations of Movement, IEEE Transactions on Biomedical Engineering, vol.54, issue.11, pp.541940-1950, 2007.
DOI : 10.1109/TBME.2007.901024

E. Drumwright, A Fast and Stable Penalty Method for Rigid Body Simulation, IEEE Transactions on Visualization and Computer Graphics, vol.14, issue.1, pp.231-240, 2008.
DOI : 10.1109/TVCG.2007.70416

V. Tikhanoff, A. Cangelosi, and G. Metta, Integration of Speech and Action in Humanoid Robots: iCub Simulation Experiments, IEEE Transactions on Autonomous Mental Development, vol.3, issue.1, pp.17-29, 2010.
DOI : 10.1109/TAMD.2010.2100390

E. Drumwright and D. A. Shell, Extensive analysis of Linear Complementarity Problem (LCP) solver performance on randomly generated rigid body contact problems, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5034-5039, 2012.
DOI : 10.1109/IROS.2012.6385974

E. Todorov, T. Erez, and Y. Tassa, MuJoCo: A physics engine for model-based control, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5026-5033, 2012.
DOI : 10.1109/IROS.2012.6386109

R. Featherstone and D. E. Orin, Handbook of Robotics, chapter Dynamics, pp.35-65, 2008.

C. Canudas-de-wit, H. Olsson, K. J. Astrom, and P. Lischinsky, A new model for control of systems with friction, IEEE Transactions on Automatic Control, vol.40, issue.3, pp.419-425, 1995.
DOI : 10.1109/9.376053

T. Erez, Y. Tassa, and E. Todorov, Simulation tools for model-based robotics: Comparison of Bullet, Havok, MuJoCo, ODE and PhysX, 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.
DOI : 10.1109/ICRA.2015.7139807

F. Largilliere, V. Verona, E. Coevoet, M. Sanz-lopez, J. Dequidt et al., Real-time control of soft-robots using asynchronous finite element modeling, 2015 IEEE International Conference on Robotics and Automation (ICRA), p.6, 2015.
DOI : 10.1109/ICRA.2015.7139541

URL : https://hal.archives-ouvertes.fr/hal-01163760

A. Del-prete and N. Mansard, Robustness to Joint-Torque Tracking Errors in Task- Space Inverse Dynamics, IEEE Transaction on Robotics, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01241974

A. Cully, J. Clune, D. Tarapore, and J. Mouret, Robots that can adapt like animals, Nature, vol.26, issue.7553, pp.503-507, 2015.
DOI : 10.1038/nrn2332

URL : https://hal.archives-ouvertes.fr/hal-01158243

S. Ivaldi, J. Babi?, M. Mistry, and R. Murphy, Special issue on whole-body control of contacts and dynamics for humanoid robots, Autonomous Robots, vol.40, issue.3, pp.425-428, 2016.
DOI : 10.1007/s10514-016-9545-5

URL : https://hal.archives-ouvertes.fr/hal-01258282