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Optimal motions are usually used as joint reference trajectories for repetitive or complex motions. In the case of soccer robots, the kicking motion is usually a benchmark motion, computed off-line, without taking into account the current position of the robot or the direction of the goal. Moreover, robots must react quickly to any situation, even if not expected, and cannot spend time to generate a new optimal motion by the classical way. Therefore, we propose a new method for fast motiondoi:10.1109/iros.2009.5354002 dblp:conf/iros/LengagneFR09 fatcat:ppnnvx5ghrbcteohzoel3b2v6i