Oussama Khatib Luis Sentis Jaeheung Park A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts. 303-312 2008 EUROS http://dx.doi.org/10.1007/978-3-540-78317-6_31 conf/euros/2008 db/conf/euros/euros2008.html#KhatibSP08