@InProceedings{escande:iser:2008,
  author    = {Adrien Escande and Abderrahmane Kheddar and Sylvain Miossec and Sylvain Garsault},
  title     = {Planning support contact-points for acyclic motions and experiments on HRP-2},
  booktitle = {International Symposium on Experimental Robotics},
  year      = {2008},
  pages     = {293-302},
  address   = {Athens, Greece},
  month     = {July 13-July 16},
  url       = {https://raw.githubusercontent.com/aescande/website/master/papers/2008\_ISER\_Escande.pdf}
}