M. Abdallah and A. Goswami, A Biomechanically Motivated Two-Phase Strategy for Biped Upright Balance Control, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.
DOI : 10.1109/ROBOT.2005.1570406
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.116.3341

R. W. Brockett, Asymptotic stability and feedback stabilization, Differential Geometric Control Theory. Birkhauser, 1983.

B. Brogliato, Nonsmooth Impact Mechanics, 1996.
DOI : 10.1007/978-1-4471-0557-2

C. Chevallereau, E. R. Westervelt, and J. W. Grizzle, Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot, The International Journal of Robotics Research, vol.24, issue.6, 2005.
DOI : 10.1177/0278364905054929
URL : https://hal.archives-ouvertes.fr/hal-00794892

A. , D. Luca, and G. Oriolo, Modelling and control of nonholonomic mechanical systems, Kinematics and Dynamics of Multi-Body Systems, CISM Courses and Lectures, 1995.

Y. Fujimoto, S. Obata, and A. Kawamura, Robust biped walking with active interaction control between foot and ground, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998.
DOI : 10.1109/ROBOT.1998.680613
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.55.6580

A. Goswami, Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point, The International Journal of Robotics Research, vol.18, issue.6, 1999.
DOI : 10.1177/02783649922066376

A. Goswami and V. Kallem, Rate of change of angular momentum and balance maintenance of biped robots, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004.
DOI : 10.1109/ROBOT.2004.1308858

K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, An analytical method on real-time gait planning for a humanoid robot, International Conference on Humanoid Robotics, 2004.

S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada et al., Resolved momentum control: humanoid motion planning based on the linear and angular momentum, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003.
DOI : 10.1109/IROS.2003.1248880

S. Kajita, T. Nagasaki, K. Kaneko, K. Yokoi, and K. Tanie, A Running Controller of Humanoid Biped HRP-2LR, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.
DOI : 10.1109/ROBOT.2005.1570186

T. Komura, H. Leung, S. Kudoh, and J. Kuffner, A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.
DOI : 10.1109/ROBOT.2005.1570405
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.496.4134

K. Löffler, M. Gienger, and F. Pfeiffer, Sensor and control design of a dynamically stable biped robot, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003.
DOI : 10.1109/ROBOT.2003.1241641

R. M. Murray, Z. Li, and S. Sastry, A Mathematical Introduction to Robotic Manipulation, 1994.

Y. Nakamura and R. Mukherjee, Exploiting nonholonomic redundancy of space robots through hierarchical Lyapunov functions, IEEE Transactions on Robotics and Automation, 1993.

V. Nunez and N. Nadjar-gauthier, Control strategy for vertical jump of humanoid robots, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
DOI : 10.1109/IROS.2005.1545059

J. Ostrowski and J. Burdick, Geometric Perspectives on the Mechanics and Control of Robotic Locomotion, Proc. of the International Symposium on Robotics Research, 1995.
DOI : 10.1007/978-1-4471-1021-7_60

E. Papadopoulos, Nonholonomic behaviour in free-floating space manipulators and its utilization. Nonholonomic Motion Planning, 1993.

J. Park, Principle of dynamical balance for multibody systems. Multi-Body Systems and Dynamics, 2005.

J. Park, Y. Youm, and W. Chung, Control of ground interaction at the zeromoment point for dynamic control of humanoid robots, Proceedings of the IEEE International Conference on Robotics & Automation, 2005.

M. Popovic, A. Hofmann, and H. Herr, Zero spin angular momentum control: definition and applicability, 4th IEEE/RAS International Conference on Humanoid Robots, 2004., 2004.
DOI : 10.1109/ICHR.2004.1442139
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.141.6041

E. J. Routh, Dynamics of a system of rigid bodies, part 1, 1905.

V. Schulz, R. Longman, and H. Bock, Computer-aided motion planning for satellite mounted robots. M 2 AS, 1998.
DOI : 10.1002/(sici)1099-1476(19980525)21:8<733::aid-mma973>3.0.co;2-f
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.56.1973

L. Sentis and O. Khatib, Control of Free-Floating Humanoid Robots Through Task Prioritization, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.
DOI : 10.1109/ROBOT.2005.1570361

M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, 1989.

M. Vukobratovi´cvukobratovi´c, B. Borovac, D. Surla, and D. Stoki´cstoki´c, Biped Locomotion : Dynamics, Stability, Control and Application, 1990.

P. Wieber, Constrained dynamics and parametrized control in biped walking, Proceedings of the International Symposium on Mathematical Theory of Networks and Systems, 2000.
URL : https://hal.archives-ouvertes.fr/inria-00390867

P. Wieber and C. Chevallereau, Online adaptation of reference trajectories for the control of walking systems, Robotics and Autonomous Systems, vol.54, issue.7, 2004.
DOI : 10.1016/j.robot.2006.04.007
URL : https://hal.archives-ouvertes.fr/inria-00070702

D. A. Winter, Biomechanics and Motor Control of Human Movement, Second Edition, 1990.