B. Brogliato, Nonsmooth Impact Mechanics, 1999.
DOI : 10.1007/978-1-4471-0557-2

M. Vukobratovic and J. Stepanenko, On the stability of anthromorphic systems, Mathematical Biosciences, vol.15, p.137, 1972.

K. Hirai, M. Hirose, Y. Haikawa, and T. Takaneka, 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

Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai et al., Planning walking patterns for a biped robot, IEEE Transactions on Robotics and Automation, vol.17, issue.3, pp.280-289, 2001.
DOI : 10.1109/70.938385

S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada et al., Biped walking pattern generation by using preview control of zero-moment point, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.1620-1626, 2003.
DOI : 10.1109/ROBOT.2003.1241826

P. Wieber, Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations, 2006 6th IEEE-RAS International Conference on Humanoid Robots, pp.137-142, 2006.
DOI : 10.1109/ICHR.2006.321375
URL : https://hal.archives-ouvertes.fr/inria-00390462

K. Harada, S. Kajita, K. Kaneko, and H. Hirukawa, AN ANALYTICAL METHOD FOR REAL-TIME GAIT PLANNING FOR HUMANOID ROBOTS, International Journal of Humanoid Robotics, vol.03, issue.01, pp.816-830, 2008.
DOI : 10.1142/S0219843606000643

K. Nishiwaki and S. Kagami, Online Walking Control System for Humanoids with Short Cycle Pattern Generation, The International Journal of Robotics Research, vol.28, issue.6, pp.729-742, 2009.
DOI : 10.1177/0278364908097883

D. Dimitrov, P. Wieber, O. Stasse, H. J. Ferreau, and H. Diedam, An Optimized Linear Model Predictive Control Solver, Recent Trends in Optimization and its Applications in Engineering
DOI : 10.1007/978-3-642-12598-0_27
URL : https://hal.archives-ouvertes.fr/inria-00390593

A. Herdt, H. Diedam, P. Wieber, D. Dimitrov, K. Mombaur et al., Online Walking Motion Generation with Automatic Foot Step Placement, Advanced Robotics, vol.246, issue.5, 2010.
URL : https://hal.archives-ouvertes.fr/inria-00391408

D. Dimitrov, P. Wieber, O. Stasse, H. J. Ferreau, and H. Diedam, An optimized Linear Model Predictive Control solver for online walking motion generation, 2009 IEEE International Conference on Robotics and Automation, 2009.
DOI : 10.1109/ROBOT.2009.5152380
URL : https://hal.archives-ouvertes.fr/inria-00390593

H. Diedam, D. Dimitrov, P. Wieber, M. Katja, and M. Diehl, Online walking gait generation with adaptive foot positioning through Linear Model Predictive control, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1121-1126, 2008.
DOI : 10.1109/IROS.2008.4651055
URL : https://hal.archives-ouvertes.fr/inria-00390566

D. Dimitrov, J. Ferreau, P. Wieber, and M. Diehl, On the implementation of model predictive control for on-line walking pattern generation, 2008 IEEE International Conference on Robotics and Automation, pp.2685-2690, 2008.
DOI : 10.1109/ROBOT.2008.4543617
URL : https://hal.archives-ouvertes.fr/inria-00390492

A. Herdt, N. Perrin, and P. Wieber, Walking without thinking about it, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010.
DOI : 10.1109/IROS.2010.5654429
URL : https://hal.archives-ouvertes.fr/inria-00567668

S. Wright, Applying new optimization algorithms to model predictive control, Proc. of CPC-V, 1996.

R. A. Bartlett, A. Wächter, and L. T. Biegler, Active set vs. interior point strategies for model predictive control, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), pp.4229-4233, 2000.
DOI : 10.1109/ACC.2000.877018

D. Gouaillier, C. Collette, and C. Kilner, Omni-directional Closedloop Walk for NAO, IEEE-RAS International Conference on Humanoid Robots, pp.448-454, 2010.

J. Moré and G. Toraldo, Algorithms for bound constrained quadratic programming problems, Numerische Mathematik, vol.34, issue.4, pp.377-400, 1989.
DOI : 10.1007/BF01396045

E. Kerrigan and J. Maciejowski, Soft constraints and exact penalty functions in model predictive control, Proc. UKACC International Conference, 2000.

J. Maciejowski, Predictive Control with Constraints, 2002.

S. Boyd and L. Vandenberghe, Convex Optimization, Cambridge, vol.22, 2004.

R. Fletcher, Practical Methods of Optimization, 1981.
DOI : 10.1002/9781118723203