@InProceedings{escande:syroco:2009,
  author    = {Adrien Escande and Abderrahmane Kheddar},
  title     = {Planning contact supports for acyclic motion with task constraints and experiment on HRP-2},
  booktitle = {IFAC Symposium on Robot Control},
  year      = {2009},
  pages     = {259-264},
  address   = {Gifu, Japan},
  month     = {September 9-September 12},
  url       = {https://raw.githubusercontent.com/aescande/website/master/papers/2009\_Syroco\_Escande.pdf}
}