J. D. Boissonnat, O. Devillers, and S. Lazard, Motion Planning of Legged Robots, SIAM Journal on Computing, vol.30, issue.1, pp.218-246, 2000.
DOI : 10.1137/S0097539797326289
URL : https://hal.archives-ouvertes.fr/hal-01179461

J. M. Bourgeot, N. Cislo, and B. Espiau, Path-planning and tracking in a 3D complex environment for an anthropomorphic biped robot, IEEE/RSJ International Conference on Intelligent Robots and System, pp.2509-2514, 2002.
DOI : 10.1109/IRDS.2002.1041646

K. Bouyarmane and A. Kheddar, Multi-contact stances planning for multiple agents, 2011 IEEE International Conference on Robotics and Automation, pp.5246-5253, 2011.
DOI : 10.1109/ICRA.2011.5980088
URL : https://hal.archives-ouvertes.fr/lirmm-00777727

F. Bullo and A. D. Lewis, Geometric Control of Mechanical Systems, Texts in Applied Mathematics, 2004.
DOI : 10.1007/978-1-4899-7276-7

J. Chestnutt, J. J. Kuffner, K. Nishiwaki, and S. Kagami, Planning biped navigation strategies in complex environments, IEEE/RAS Int. Conf. on Humanoid Robots (Humanoids'03), 2003.

J. Chestnutt, M. Lau, G. Cheung, J. J. Kuffner, J. Hodgins et al., Footstep Planning for the Honda ASIMO Humanoid, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.631-636, 2005.
DOI : 10.1109/ROBOT.2005.1570188
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.72.2220

J. Chestnutt, K. Nishiwaki, J. J. Kuffner, and S. Kagami, An adaptive action model for legged navigation planning, 2007 7th IEEE-RAS International Conference on Humanoid Robots, pp.196-202, 2007.
DOI : 10.1109/ICHR.2007.4813868
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.88.1989

S. Dalibard, A. Khoury, F. Lamiraux, M. Taix, and J. P. Laumond, Small-space controllability of a walking humanoid robot, 2011 11th IEEE-RAS International Conference on Humanoid Robots, 2011.
DOI : 10.1109/Humanoids.2011.6100807
URL : https://hal.archives-ouvertes.fr/hal-00602384

J. Englsberger, C. Ott, and A. Albu-schaffer, Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion, IEEE Transactions on Robotics, vol.31, issue.2, pp.355-368, 2015.
DOI : 10.1109/TRO.2015.2405592

B. Goodwine and J. W. Burdick, Controllability of kinematic control systems on stratified configuration spaces, IEEE Transactions on Automatic Control, vol.46, issue.3, pp.358-368, 2001.
DOI : 10.1109/9.911414

B. Goodwine and J. W. Burdick, Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting, IEEE Transactions on Robotics and Automation, vol.18, issue.2, pp.209-222, 2001.
DOI : 10.1109/TRA.2002.999649

J. S. Gutmann, M. Fukuchi, and M. Fujita, Real-time path planning for humanoid robot navigation, Int. Joint Conf. on Artificial Intelligence (IJCAI05), pp.1232-1237, 2005.

I. Harmati and B. Kiss, Motion planning algorithms for stratified kinematic systems with application to hexapod robot, Journal of Acta Cybernetica, vol.15, issue.2, pp.225-240, 2001.

K. Hauser, T. Bretl, J. C. Latombe, and B. Wilcox, Motion Planning for a Six-Legged Lunar Robot, 7th Workshop on the Algorithmic Foundations of Robotics (WAFR'06), pp.16-18, 2006.
DOI : 10.1007/978-3-540-68405-3_19

A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz, Anytime search-based footstep planning with suboptimality bounds, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pp.674-679, 2012.
DOI : 10.1109/HUMANOIDS.2012.6651592

O. Kanoun, J. P. Laumond, and E. Yoshida, Planning foot placements for a humanoid robot: A problem of inverse kinematics, The International Journal of Robotics Research, vol.24, issue.5, pp.476-485, 2011.
DOI : 10.1177/0278364910371238

L. E. Kavraki, P. Svestka, J. C. Latombe, and M. H. Overmars, Probabilistic roadmaps for path planning in high-dimensional configuration spaces, IEEE Transactions on Robotics and Automation, vol.12, issue.4, pp.566-580, 1996.
DOI : 10.1109/70.508439

J. J. Kuffner and S. Lavalle, RRT-connect: An efficient approach to single-query path planning, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.995-1001, 2000.
DOI : 10.1109/ROBOT.2000.844730
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.115.7833

J. J. Kuffner, K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue, Footstep planning among obstacles for biped robots, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), pp.500-505, 2001.
DOI : 10.1109/IROS.2001.973406

G. Lafferriere and H. J. Sussmann, Motion planning for controllable systems without drift, Proceedings. 1991 IEEE International Conference on Robotics and Automation, pp.1148-1153, 1991.
DOI : 10.1109/ROBOT.1991.131763
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.47.6821

S. M. Lavalle, J. J. Kuffner, and . Jr, Rapidly-exploring random trees: Progress and prospects, Algorithmic and Computational Robotics: New Directions, pp.293-308, 2000.

C. Ott, C. Baumgartner, J. Mayr, M. Fuchs, R. Burger et al., Development of a biped robot with torque controlled joints, 2010 10th IEEE-RAS International Conference on Humanoid Robots, pp.167-173, 2010.
DOI : 10.1109/ICHR.2010.5686340

N. Perrin, From Discrete to Continuous Motion Planning, 10th Workshop on the Algorithmic Foundations of Robotics (WAFR'12), 2012.
DOI : 10.1007/978-3-642-36279-8_6

N. Perrin, C. Ott, J. Englsberger, O. Stasse, F. Lamiraux et al., A Continuous Approach to Legged Locomotion Planning (2013) URL https

N. Perrin, O. Stasse, F. Lamiraux, Y. J. Kim, and D. Manocha, Realtime footstep planning for humanoid robots among 3D obstacles using a hybrid bounding box, IEEE Int. Conf. on Robotics and Automation (ICRA'12), 2012.
DOI : 10.1109/icra.2012.6224555
URL : https://hal.archives-ouvertes.fr/hal-00668794

N. Perrin, O. Stasse, F. Lamiraux, and E. Yoshida, Weakly collision-free paths for continuous humanoid footstep planning, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4408-4413, 2011.
DOI : 10.1109/IROS.2011.6094511
URL : https://hal.archives-ouvertes.fr/hal-00639026

S. Sastry, Nonlinear Systems: Analysis, Stability, and Control, Interdisciplinary Applied Mathematics, vol.10, 1999.
DOI : 10.1007/978-1-4757-3108-8

S. ¸-ucan, I. A. Moll, M. Kavraki, and L. E. , The Open Motion Planning Library, IEEE Robotics & Automation Magazine, vol.19, issue.4, pp.72-82, 2012.

E. Yoshida, C. Esteves, I. Belousov, J. P. Laumond, T. Sakaguchi et al., Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative Reshaping, IEEE Transactions on Robotics, vol.24, issue.5, pp.1186-1198, 2008.
DOI : 10.1109/TRO.2008.2002312