main.bbl

\begin{thebibliography}{10}

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Honda Asimo.
\newblock Asimo specification.
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\bibitem{ben2003generalized}
A.~Ben-Israel and T.N.E. Greville.
\newblock {\em Generalized Inverses: Theory and Applications}.
\newblock CMS Books in Mathematics. Springer, 2003.

\bibitem{c1983geometric}
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\bibitem{12020}
C.~Chevallereau and W.~Khalil.
\newblock A new method for the solution of the inverse kinematics of redundant
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\bibitem{Chiaverini94reviewof}
S~Chiaverini, B~Siciliano, and O~Egeland.
\newblock Review of the damped least-squares inverse kinematics with
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\newblock {\em IEEE Trans. on Control Systems Technology}, pages 123--134,
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\bibitem{springer}
Stefano Chiaverini, Giuseppe Oriolo, and IanD. Walker.
\newblock Kinematically redundant manipulators.
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\newblock chez les fr{\`e}res Cramer et C. Philibert, 1750.

\bibitem{atlasspec}
Darpa.
\newblock Darpa' atlas robot unveiled.
\newblock \url{http://www.darpa.mil/NewsEvents/Releases/2013/07/11.aspx}, 2013.

\bibitem{conf/icra/DietrichWTAH11}
Alexander Dietrich, Thomas Wimb\"{o}ck, Holger T\"{a}ubig, Alin
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\newblock Extensions to reactive self-collision avoidance for torque and
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\newblock In {\em ICRA}, pages 3455--3462. IEEE, 2011.

\bibitem{Ericson:2004:RCD:1121584}
Christer Ericson.
\newblock {\em Real-Time Collision Detection (The Morgan Kaufmann Series in
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\newblock Morgan Kaufmann Publishers Inc., San Francisco, CA, USA, 2004.

\bibitem{escande-icra-10}
A.~Escande, N.~Mansard, and P-B. Wieber.
\newblock A dedicated quadradic program for fast hierarchical-inverse-kinematic
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\newblock In {\em IEEE Int. Conf. on Robotics and Automation (ICRA'10)},
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\bibitem{escande-ijrr-sub12}
A.~Escande, N.~Mansard, and P.B. Wieber.
\newblock Hierarchical quadratic programming.
\newblock {\em International Journal of Robotics Research}, October 2012.

\bibitem{escande:ijrr:2014}
Adrien Escande, Nicolas Mansard, and Pierre-Brice Wieber.
\newblock Hierarchical quadratic programming: Fast online humanoid-robot motion
  generation.
\newblock {\em International Journal of Robotics Reasearch}, 2014.
\newblock in press.

\bibitem{escande:itro:2013}
Adrien Escande, Sylvain Miossec, Mehdi Benallegue, and Abderrahmane Kheddar.
\newblock A strictly convex hull for computing proximity distances with
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\newblock {\em IEEE Transactions on Robotics}, 2013.
\newblock conditionally accepted.

\bibitem{conf/humanoids/EscandeMK07}
Adrien Escande, Sylvain Miossec, and Abderrahmane Kheddar.
\newblock Continuous gradient proximity distance for humanoids free-collision
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\newblock In {\em Humanoids}, pages 188--195. IEEE, 2007.

\bibitem{ROB:2555180}
P.J. Esrom.
\newblock Robot control (the task function approach), by c. samson, m. le
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\newblock {\em Robotica}, 9:447--448, 12 1991.

\bibitem{Faverjon87alocal}
B~Faverjon and P~Tournassoud.
\newblock A local approach for path planning of manipulators with a high number
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\newblock In {\em Proc. IEEE Int. Conf. on Robotics and Automation}, pages
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\bibitem{dynamics}
R.~Featherstone and D.~Orin.
\newblock Robot dynamics: equations and algorithms.
\newblock In {\em Robotics and Automation, 2000. Proceedings. ICRA 2000. IEEE
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\bibitem{hubospec}
Korean Advanced~Institute for Science and Technology.
\newblock Hubo specification.
\newblock \url{http://ohzlab.kaist.ac.kr/p_hubo2p}, 2014.

\bibitem{gjkoriginal}
E.~G. Gilbert, D.~W. Johnson, and S.~S. Keerthi.
\newblock {A fast procedure for computing the distance between complex objects
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\newblock {\em Robotics and Automation, IEEE Journal of}, 4(2):193--203, 1988.

\bibitem{hartenberg-1964a}
R.~S. Hartenberg and J.~Denavit.
\newblock {\em Kinematic Synthesis of Linkages}.
\newblock McGraw-Hill, New York, 1964.

\bibitem{Kanehiro-RSS08}
Fumio Kanehiro, Florent Lamiraux, Oussama Kanoun, Eiichi Yoshida, and Jean-Paul
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\newblock A local collision avoidance method for non-strictly convex polyhedra.
\newblock In {\em Proceedings of Robotics: Science and Systems IV}, Zurich,
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\bibitem{kanoun:itro:11}
O.~Kanoun, F.~Lamiraux, and P.-B. Wieber.
\newblock Kinematic control of redundant manipulators: Generalizing the task
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\newblock (4):785--792, 2011.

\bibitem{kanoun:inria-00390581}
Oussama Kanoun, Florent Lamiraux, Pierre-Brice Wieber, Fumio Kanehiro, Eiichi
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\newblock {Prioritizing linear equality and inequality systems: application to
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\newblock In {\em {ICRA 2009 - IEEE International Conference on Robotics \&
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\bibitem{Kavraki96probabilisticroadmaps}
Lydia Kavraki, Petr Svestka, Jean claude Latombe, and Mark Overmars.
\newblock Probabilistic roadmaps for path planning in high-dimensional
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\newblock In {\em IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION},
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\bibitem{ompl}
Rice~University Kavraki~Lab.
\newblock Open motion planning library: A primer.

\bibitem{Khatib:86g}
O.~Khatib.
\newblock Real-time obstacle avoidance for manipulators and mobile robots.
\newblock {\em The International Journal of Robotics Research}, 5(1):90--98,
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\bibitem{khatib-1987a}
Oussama Khatib.
\newblock A unified approach for motion and force control of robot
  manipulators: The operational space formulation.
\newblock {\em IEEE Transactions on Robotics and Automation}, RA-3(1):43--53,
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\bibitem{kuhn50nonlinear}
H.~W. Kuhn and A.~W. Tucker.
\newblock Nonlinear programming.
\newblock In Jerzy Neyman, editor, {\em Proceedings of the 2nd Berkeley
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  University of California Press, Berkeley, CA, USA, 1950.

\bibitem{Lavalle98rapidly-exploringrandom}
Steven~M. Lavalle.
\newblock Rapidly-exploring random trees: A new tool for path planning.
\newblock Technical report, 1998.

\bibitem{LaValle04planningalgorithms}
Steven~M LaValle.
\newblock Planning algorithms, 2004.

\bibitem{marcus}
Marcus Liebhardt.
\newblock Online motion retargeting for humanoid robot teleoperation.
\newblock Master's thesis, Universit{\"a}t Stuttgart, GER, 2011.

\bibitem{Liegeois1977}
A.~Liegeois.
\newblock Automatic supervisory control of the configuration and behavior of
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\newblock {\em IEEE Trans. Systems, Man, and Cybernetics}, 7(12):842--868,
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\bibitem{conf/iros/LiuDZ05}
Hong Liu, Xuezhi Deng, and Hongbin Zha.
\newblock A planning method for safe interaction between human arms and robot
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\newblock In {\em IROS}, pages 2724--2730. IEEE, 2005.

\bibitem{Sentis:06}
L.Sentis and O.Khatib.
\newblock A whole-body control framework for humanoid operating in human
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\newblock In {\em Proc. of the IEEE International Conference on Robotics and
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\bibitem{bence}
Bence Magyar.
\newblock Implementing visual perception tasks for the reem robot.
\newblock Master's thesis, Et{\"o}v{\"o}s Lor{\'a}nd University, HU, 2012.

\bibitem{mansard-tro-09}
N.~Mansard, O.~Khatib, and A.~Kheddar.
\newblock A unified approach to integrate unilateral constraints in the stack
  of tasks.
\newblock {\em IEEE Transaction on Robotics}, 25(3), June 2009.

\bibitem{mansard:icar:09}
N.~Mansard, O., P.~Evrard, and A.~Kheddar.
\newblock A versatile generalized inverted kinematics implementation for
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\newblock In {\em International Conference on Advanced Robotics (ICAR)}, page
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\bibitem{martinez2013learning}
A.~Martinez and E.~Fern{\'a}ndez.
\newblock {\em Learning ROS for Robotics Programming}.
\newblock Packt Publishing, 2013.

\bibitem{roscontrol}
Wim Meeussen, Adolfo~Rodriguez Tsouroukdissian, and Dave Coleman.
\newblock Ros-control.
\newblock \url{http://wiki.ros.org/ros_control}, 2014.

\bibitem{murty1983linear}
K.G. Murty.
\newblock {\em Linear programming}.
\newblock Wiley, 1983.

\bibitem{GVK502988711}
Jorge Nocedal and Stephan~J. Wright.
\newblock {\em Numerical optimization}.
\newblock Springer series in operations research and financial engineering.
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\bibitem{conf/icra/PanCM12}
Jia Pan, Sachin Chitta, and Dinesh Manocha.
\newblock Fcl: A general purpose library for collision and proximity queries.
\newblock In {\em ICRA}, pages 3859--3866. IEEE, 2012.

\bibitem{oscar}
Oscar Efra{\'i}n~Ramos Ponce.
\newblock Generation of complex dynamic motion for a humanoid robot.
\newblock Master's thesis, LAAS-CNRS, FR, 2011.

\bibitem{citeulike:1090825}
Lorenzo Sciavicco and Bruno Siciliano.
\newblock {\em {Modelling and Control of Robot Manipulators}}.
\newblock Springer, January 2000.

\bibitem{LIE}
J.M. Selig.
\newblock Lie groups and lie algebras in robotics.
\newblock In Jim Byrnes, editor, {\em Computational Noncommutative Algebra and
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\bibitem{conf/iros/SetoKH05}
Fumi Seto, Kazuhiro Kosuge, and Yasuhisa Hirata.
\newblock Self-collision avoidance motion control for human robot cooperation
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\newblock In {\em IROS}, pages 3143--3148. IEEE, 2005.

\bibitem{journals/jirs/Siciliano90}
Bruno Siciliano.
\newblock Kinematic control of redundant robot manipulators: A tutorial.
\newblock {\em Journal of Intelligent and Robotic Systems}, 3(3):201--212,
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\bibitem{opac-b1129198}
Bruno Siciliano, Lorenzo Sciavicco, and Luigi Villani.
\newblock {\em Robotics : modelling, planning and control}.
\newblock Advanced Textbooks in Control and Signal Processing. Springer,
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\newblock 013-81159.

\bibitem{siciliano1991general}
Bruno Siciliano and J-JE Slotine.
\newblock A general framework for managing multiple tasks in highly redundant
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\newblock In {\em Advanced Robotics, 1991.'Robots in Unstructured
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\bibitem{reemspec}
Pal~Robotics S.L.
\newblock Reem-c specification.
\newblock \url{http://www.pal-robotics.com/en/robots/reem-c}, 2014.

\bibitem{stasse-icra-08}
O.~Stasse, A.~Escande, N.~Mansard, S.~Miossec, P.~Evrard, and A.~et~Kheddar.
\newblock Real-time (self)-collision avoidance task on a {HRP-2} humanoid
  robot.
\newblock In {\em icra08}, Las Passadenas, USA, May 2008.

\bibitem{644}
Ioan~Alexandru Sucan and Lydia~E. Kavraki.
\newblock Kinodynamic motion planning by interior-exterior cell exploration.
\newblock In {\em Algorithmic Foundation of Robotics VIII (Proceedings of
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\bibitem{conf/humanoids/SugiuraGJG06}
Hisashi Sugiura, Michael Gienger, Herbert Janssen, and Christian Goerick.
\newblock Real-time self collision avoidance for humanoids by means of
  nullspace criteria and task intervals.
\newblock In {\em Humanoids}, pages 575--580. IEEE, 2006.

\bibitem{Thrunprobabilisticalgorithms}
Sebastian Thrun.
\newblock Probabilistic algorithms in robotics.
\newblock {\em AI Magazine vol}, page 2000.

\bibitem{Tobler_amesh}
Robert~F. Tobler and Stefan Maierhofer.
\newblock A mesh data structure for rendering and subdivision.

\bibitem{VandenBergen:1999:FRG:334709.334711}
Gino Van~den Bergen.
\newblock A fast and robust gjk implementation for collision detection of
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\newblock {\em J. Graph. Tools}, 4(2):7--25, March 1999.

\bibitem{Whitney72a}
D.~E. Whitney.
\newblock {The mathematics of coordinated control of prosthetic arms and
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\newblock {\em Trans. ASME Journal of Dynamic System, Measures and Control},
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\bibitem{Xie98real-timecollision}
H~P Xie, R~V Patel, S~Kalaycioglu, and H~Asmer.
\newblock Real-time collision avoidance for a redundant manipulator in an
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\newblock In {\em in International Conference on Intelligent Robots and
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\bibitem{nakamura}
H.~Hanafusa Y.~Nakamura.
\newblock Optimal redundancy control of robot manipulators.
\newblock {\em International Journal of Robotics Research}, 1986.

\end{thebibliography}