M. L. Latash, The bliss (not the problem) of motor abundance (not redundancy), Experimental Brain Research, vol.217, issue.1, pp.1-5, 2012.

E. Viel, La marche humaine, la course et le saut: biomécanique, explorations, normes et dysfonctionnements, ser. Le Point en rééducation, 2000.

A. Rajagopal, C. L. Dembia, M. S. Demers, D. D. Delp, J. L. Hicks et al., Full-body musculoskeletal model for muscle-driven simulation of human gait, IEEE Trans on Biomedical Engineering, vol.63, issue.10, pp.2068-2079, 2016.

S. Delp, F. Anderson, A. Arnold, P. Loan, A. Habib et al., Opensim: Open-source software to create and analyze dynamic simulations of movement, Biomedical Engineering, vol.54, pp.1940-1950, 2007.

K. Hase, K. Miyashita, S. Ok, and Y. Arakawa, Human gait simulation with a neuromusculoskeletal model and evolutionary computation, The Journal of Visualization and Computer Animation, vol.14, issue.2, pp.73-92, 2003.

S. Song and H. Geyer, A neural circuitry that emphasizes spinal feedback generates diverse behaviours of human locomotion, The Journal of physiology, vol.593, issue.16, pp.3493-3511, 2015.

S. Coros, P. Beaudoin, and M. Van-de-panne, Generalized biped walking control, ACM Transctions on Graphics, vol.29, issue.4, 2010.

K. Yin, K. Loken, and M. Van-de-panne, Simbicon: Simple biped locomotion control, ACM Trans. Graph, vol.26, issue.3, 2007.

J. M. Wang, S. R. Hamner, S. L. Delp, and V. Koltun, Optimizing locomotion controllers using biologically-based actuators and objectives, ACM Trans. Graph, vol.31, issue.4, pp.1-25, 2012.

T. W. Dorn, J. M. Wang, J. L. Hicks, and S. L. Delp, Predictive simulation generates human adaptations during loaded and inclined walking, PLOS ONE, vol.10, issue.4, pp.1-16, 2015.

M. De-lasa, I. Mordatch, and A. Hertzmann, Feature-Based Locomotion Controllers, ACM Trans on Graphics, vol.29, issue.3, 2010.

M. Diehl and S. Gros, Numerical optimal control (preliminary and incomplete draft), 2017.

M. Ackermann, A. J. Van-den, and . Bogert, Optimality principles for model-based prediction of human gait, Journal of Biomechanics, vol.43, issue.6, pp.1055-1060, 2010.

E. Dorschky, M. Nitschke, A. Seifer, A. J. Van-den, B. M. Bogert et al., Estimation of gait kinematics and kinetics from inertial sensor data using optimal control of musculoskeletal models, Journal of Biomechanics, vol.95, p.109278, 2019.

M. Sreenivasa, M. Millard, M. Felis, K. Mombaur, and S. I. Wolf, Optimal control based stiffness identification of an ankle-foot orthosis using a predictive walking model, Frontiers in Computational Neuroscience, vol.11, p.23, 2017.

M. L. Felis and K. Mombaur, Synthesis of full-body 3-d human gait using optimal control methods, 2016 IEEE (ICRA), pp.1560-1566, 2016.

P. Kuhl, J. Ferreau, J. Albersmeyer, C. Kirches, L. Wirsching et al., Muscod-ii users' manual, 2001.

D. Clever, R. Schemschat, M. L. Felis, and K. Mombaur, Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground, IEEE International Conference BioRob, pp.1192-1199, 2016.

E. Todorov and W. Li, Optimal control methods suitable for biomechanical systems, Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, vol.2, pp.1758-1761, 2003.

M. Boukheddimi, F. Bailly, P. Souères, and B. Watier, Human-like gait generation from a reduced set of tasks using the hierarchical control framework from robotics, IEEE Conference on Robotics and Biomimetics, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02455162

J. Carpentier, M. Benallegue, and J. Laumond, On the centre of mass motion in human walking, Int. J. Autom. Comput, vol.14, issue.5, pp.542-551, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01377361

G. Wu, S. Siegler, P. Allard, C. Kirtley, A. Leardini et al., Isb recommendation on definitions of joint coordinate system of various joints for the reporting of human joint motionpart i: ankle, hip, and spine, Journal of Biomechanics, vol.35, issue.4, pp.543-548, 2002.

G. Wu, F. Van-der-helm, H. Veeger, M. Makhsous, P. Van-roy et al., Isb recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion-part ii: shoulder, elbow, wrist and hand, Jr of Biomechanics, vol.38, pp.981-92, 2005.

G. Maldonado, P. Souères, and B. Watier, Université de Toulouse 3 Paul Sabatier, 2018.

G. Maldonado, F. Bailly, P. Souères, and B. Watier, Angular momentum regulation strategies for highly dynamic landing in Parkour, Computer Methods in Biomechanics and Biomedical Engineering, vol.20, issue.sup1, pp.123-124, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01636353

S. R. Hamner, A. Seth, and S. L. Delp, Muscle contributions to propulsion and support during running, Journal of Biomechanics, vol.43, issue.14, pp.2709-2716, 2010.

J. M. Byrne and S. D. Prentice, Swing phase kinetics and kinematics of knee replacement patients during obstacle avoidance, Gait & Posture, vol.18, issue.1, pp.95-104, 2003.

Y. Xiang, J. S. Arora, and K. Abdel-malek, Optimization-based prediction of asymmetric human gait, Journal of Biomechanics, vol.44, issue.4, pp.683-693, 2011.

W. Kim, A. S. Voloshin, and S. H. Johnson, Modeling of heel strike transients during running, Human Movement Science, vol.13, issue.2, pp.221-244, 1994.

R. Featherstone, Rigid Body Dynamics Algorithms, 2014.

J. Baumgarte, Stabilization of constraints and integrals of motion in dynamical systems, Computer Methods in Applied Mechanics and Engineering, vol.1, issue.1, pp.1-16, 1972.

P. Wieber, Holonomy and nonholonomy in the dynamics of articulated motion, Proceedings of the Ruperto Carola Symposium on Fast Motion in Biomechanics and Robotics, 2005.

R. Budhiraja, J. Carpentier, C. Mastalli, and N. Mansard, Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics, IEEE-RAS, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01851596

C. Mastalli, R. Budhiraja, W. Merkt, G. Saurel, B. Hammoud et al., Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control, 2020.
URL : https://hal.archives-ouvertes.fr/hal-02294059

J. Carpentier, G. Saurel, G. Buondonno, J. Mirabel, F. Lamiraux et al., The Pinocchio C++ library -A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives, SII 2019 -International Symposium on System Integrations, 2019.
URL : https://hal.archives-ouvertes.fr/hal-01866228

N. Mansard, Feasibility-prone differential dynamic programming is ddp a multiple shooting algorithm?), 2019.

W. H. Press, S. Teukolsky, W. Vetterling, and B. Flannery, Numerical recipes : the art of scientific computing, 2007.

A. M. Panchea, N. Ramdani, V. Bonnet, and P. Fraisse, Human Arm Motion Analysis Based on the Inverse Optimization Approach, International Conference Biorob, pp.1005-1010, 2018.
URL : https://hal.archives-ouvertes.fr/hal-02169092