Biblio
“Whole-body Model-Predictive Control applied to the HRP-2 Humanoid”, in IEEE International Conference on Intelligent Robots and Systems (IROS 2015), 2015.
MuJoCo on HRP2.pdf (1.25 MB)
, 
“Weakly collision-free paths for continuous humanoid footstep planning”, in IEEE/RSJ International Conferenece on Intelligent Robots and Systems (IROS), 2011, pp. 4408–4413.
, “Whole body posture controller based on inertial forces”, in ichr, 2006, pp. 188–193.
,