@InProceedings{escande:icra:2010,
  author    = {Escande, Adrien and Mansard, Nicolas and Wieber, Pierre-Brice},
  title     = {Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year      = {2010},
  pages     = {3733--3738},
  address   = {Anchorage (AK), USA},
  month     = {May 3-May 8},
  url       = {http://hal.archives-ouvertes.fr/docs/00/48/48/53/PDF/2010\_icra\_escande.pdf},
  doi       = {10.1109/ROBOT.2010.5509953}
}