@InProceedings{qiu:humanoids:2012,
  author    = {Zhaopeng Qiu and Adrien Escande and Alain Micaelli and Thomas Robert},
  title     = {A Hierarchical Framework for Realizing Dynamically-stable Motions of Humanoid Robot in Obstacle-cluttered Environments},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year      = {2012},
  address   = {Osaka, Japan},
  month     = {November 29-December 1},
  url       = {https://raw.githubusercontent.com/aescande/website/master/papers/2012\_Humanoids\_Qiu.pdf},
  doi       = {10.1109/HUMANOIDS.2012.6651622}
}