@InProceedings{bouyarmane:icra:2009,
  author    = {Karim Bouyarmane and Adrien Escande and Florent Lamiraux and Abderrahmane Kheddar},
  title     = {Potential field guide for humanoid multicontacts acyclic motion planning},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year      = {2009},
  pages     = {1165--1170},
  address   = {Kobe, Japan},
  month     = {May 12-May 17},
  url       = {https://raw.githubusercontent.com/aescande/website/master/papers/2009\_ICRA\_Bouyarmane.pdf},
  doi       = {10.1109/ROBOT.2009.5152353}
}