@InProceedings{brossette:humanoids:2015,
  author    = {Brossette, Stanislas and Escande, Adrien and Duchemin, Gr{\'e}goire and Chr{\'e}tien, Benjamin and Kheddar, Abderrahmane},
  title     = {Humanoid posture generation on non-Euclidian manifolds},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year      = {2015},
  address   = {Seoul, South Korea},
  month     = {November 3-November 5},
  url       = {https://comanoid.cnrs.fr/publications\_files/2015/Humanoids/W6IA-4.pdf},
  keywords  = {Manifolds, Optimization, Robots, Convergence, Matrix decomposition, Approximation methods, Collision avoidance},
  doi       = {10.1109/HUMANOIDS.2015.7363574},
  abstract  = {We present a reformulation of the posture generation problem that encompasses non-Euclidean manifolds. Such a formulation allows a more elegant mathematical description of the constraints, which we exemplify through some scenarios in the simulation results section. In our previous work, the posture generation problem is formulated as a non-linear optimization program with constraints expressed only through Euclidean manifolds; we solve the latter problem using on-the-shelf solvers. Instead, we decided to implement a new SQP solver that is most suited to non-Euclidean manifolds structural objects. By doing so, we have a better mastering in the way to tune and specialize our SQP solver for robotic problems.}
}