J. Soechting and F. Lacquaniti, Invariant characteristics of a pointing movement in man, J Neurosci, vol.1, pp.710-720, 1981.

F. Lacquaniti and J. Soechting, Coordination of arm and wrist motion during a reaching task, J Neurosci, vol.2, pp.399-408, 1982.

C. Atkeson and J. Hollerbach, Kinematic features of unrestrained vertical arm movements, J Neurosci, vol.5, pp.2318-2330, 1985.

C. Papaxanthis, T. Pozzo, and M. Schieppati, Trajectories of arm pointing movements on the sagittal plane vary with both direction and speed, Experimental Brain Research, vol.99, issue.4, pp.498-503, 2003.
DOI : 10.1007/s002210050397

J. Soechting and M. Flanders, 11 Arm Movements in Three-dimensional Space, Exercise and Sport Sciences Reviews, vol.19, issue.1, pp.389-418, 1991.
DOI : 10.1249/00003677-199101000-00011

F. Lacquaniti, C. Terzuolo, and P. Viviani, The law relating the kinematic and figural aspects of drawing movements, Acta Psychologica, vol.54, issue.1-3, pp.115-130, 1983.
DOI : 10.1016/0001-6918(83)90027-6

S. Engelbrecht, Minimum Principles in Motor Control, Journal of Mathematical Psychology, vol.45, issue.3, pp.497-542, 2001.
DOI : 10.1006/jmps.2000.1295

E. Todorov, Optimality principles in sensorimotor control, Nature Neuroscience, vol.4, issue.9, pp.907-915, 2004.
DOI : 10.1038/73964

W. Nelson, Physical principles for economies of skilled movements, Biological Cybernetics, vol.1, issue.2, pp.135-147, 1983.
DOI : 10.1007/BF00339982

M. Desmurget, D. Pélisson, Y. Rossetti, and C. Prablanc, From Eye to Hand: Planning Goal-directed Movements, Neuroscience & Biobehavioral Reviews, vol.22, issue.6, pp.761-788, 1998.
DOI : 10.1016/S0149-7634(98)00004-9

T. Flash and N. Hogan, The coordination of arm movements: an experimentally confirmed mathematical model, J Neurosci, vol.5, pp.1688-1703, 1985.

Y. Uno, M. Kawato, and R. Suzuki, Formation and control of optimal trajectory in human multijoint arm movement. minimum torque-change model, Biol Cybern, vol.61, pp.89-101, 1989.

C. Harris and D. Wolpert, Signal-dependent noise determines motor planning, Nature, vol.394, issue.6695, pp.780-784, 1998.
DOI : 10.1038/29528

H. Cruse and M. Brüwer, The human arm as a redundant manipulator: The control of path and joint angles, Biological Cybernetics, vol.1, issue.1-2, pp.137-144, 1987.
DOI : 10.1007/BF00318723

D. Rosenbaum, L. Loukopoulos, R. Meulenbroek, J. Vaughan, and S. Engelbrecht, Planning reaches by evaluating stored postures., Psychological Review, vol.102, issue.1, pp.28-67, 1995.
DOI : 10.1037/0033-295X.102.1.28

J. Vaughan, D. Rosenbaum, F. Diedrich, and C. Moore, Cooperative selection of movements: The optimal selection model, Psychological Research, vol.19, issue.4, pp.254-273, 1996.
DOI : 10.1007/BF00447072

S. Gielen, Review of Models for the Generation of Multi-Joint Movements in 3-D, Adv Exp Med Biol, vol.629, pp.523-550, 2009.
DOI : 10.1007/978-0-387-77064-2_28

P. Gribble, L. Mullin, N. Cothros, and A. Mattar, Role of Cocontraction in Arm Movement Accuracy, Journal of Neurophysiology, vol.89, issue.5, pp.2396-2405, 2003.
DOI : 10.1152/jn.01020.2002

O. Missenard, D. Mottet, and S. Perrey, The role of cocontraction in the impairment of movement accuracy with fatigue, Experimental Brain Research, vol.86, issue.1, pp.151-156, 2008.
DOI : 10.1007/s00221-007-1264-x

D. Liu and E. Todorov, Evidence for the Flexible Sensorimotor Strategies Predicted by Optimal Feedback Control, Journal of Neuroscience, vol.27, issue.35, pp.9354-9368, 2007.
DOI : 10.1523/JNEUROSCI.1110-06.2007

E. Todorov, K. Doya, S. Ishii, A. Pouget, and R. Rao, Optimal Control Theory, Bayesian Brain: Probabilistic Approaches to Neural Coding, pp.269-298, 2007.
DOI : 10.7551/mitpress/9780262042383.003.0012

C. Papaxanthis, T. Pozzo, and J. Mcintyre, Kinematic and dynamic processes for the control of pointing movements in humans revealed by short-term exposure to microgravity, Neuroscience, vol.135, issue.2, pp.371-383, 2005.
DOI : 10.1016/j.neuroscience.2005.06.063

R. Murray, S. Sastry, and L. Zexiang, A Mathematical Introduction to Robotic Manipulation, Boca Raton, vol.480, 1994.

F. Van-der-helm and L. Rozendaal, Musculoskeletal Systems with Intrinsic and Proprioceptive Feedback, Neural control of posture and movement, pp.164-174, 2000.
DOI : 10.1007/978-1-4612-2104-3_11

K. Mombaur, A. Truong, and J. Laumond, From human to humanoid locomotion???an inverse optimal control approach, Autonomous Robots, vol.24, issue.5, pp.369-383, 2009.
DOI : 10.1007/s10514-009-9170-7

Y. Wada, Y. Kaneko, E. Nakano, R. Osu, and M. Kawato, Quantitative examinations for multi joint arm trajectory planning???using a robust calculation algorithm of the minimum commanded torque change trajectory, Neural Networks, vol.14, issue.4-5, pp.381-393, 2001.
DOI : 10.1016/S0893-6080(01)00026-0

S. Ben-itzhak and A. Karniel, Minimum Acceleration Criterion with Constraints Implies Bang-Bang Control as an Underlying Principle for Optimal Trajectories of Arm Reaching Movements, Neural Computation, vol.3, issue.3, pp.779-812, 2008.
DOI : 10.1007/BF00204593

E. Todorov and M. Jordan, Smoothness maximization along a predefined path accurately predicts the speed profiles of complex arm movements, J Neurophysiol, vol.80, pp.696-714, 1998.

M. Richardson and T. Flash, Comparing smooth arm movements with the two-thirds power law and the related segmented-control hypothesis, J Neurosci, vol.22, pp.8201-8211, 2002.

E. Nakano, H. Imamizu, R. Osu, Y. Uno, and H. Gomi, Quantitative examinations of internal representations for arm trajectory planning: minimum commanded torque change model, J Neurophysiol, vol.81, pp.2140-2155, 1999.

A. Biess, D. Liebermann, and T. Flash, A Computational Model for Redundant Human Three-Dimensional Pointing Movements: Integration of Independent Spatial and Temporal Motor Plans Simplifies Movement Dynamics, Journal of Neuroscience, vol.27, issue.48, pp.13045-13064, 2007.
DOI : 10.1523/JNEUROSCI.4334-06.2007

J. Soechting, C. Buneo, U. Herrmann, and M. Flanders, Moving effortlessly in three dimensions: does donders' law apply to arm movement?, J Neurosci, vol.15, pp.6271-6280, 1995.

J. Nishii and T. Murakami, Energetic optimality of arm trajectory, Proc of Int Conf on Biomechanics of Man, pp.30-33, 2002.

B. Berret, C. Darlot, F. Jean, T. Pozzo, and C. Papaxanthis, The Inactivation Principle: Mathematical Solutions Minimizing the Absolute Work and Biological Implications for the Planning of Arm Movements, PLoS Computational Biology, vol.294, issue.21, p.1000194, 2008.
DOI : 10.1371/journal.pcbi.1000194.s001

URL : https://hal.archives-ouvertes.fr/inserm-00705805

E. Todorov and M. Jordan, Optimal feedback control as a theory of motor coordination, Nature Neuroscience, vol.5, issue.11, pp.1226-1235, 2002.
DOI : 10.1038/nn963

E. Guigon, P. Baraduc, and M. Desmurget, Computational Motor Control: Redundancy and Invariance, Journal of Neurophysiology, vol.97, issue.1, pp.331-347, 2007.
DOI : 10.1152/jn.00290.2006

URL : https://hal.archives-ouvertes.fr/inserm-00214133

S. Calinon, F. Guenter, and A. Billard, On Learning, Representing, and Generalizing a Task in a Humanoid Robot, IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), vol.37, issue.2, pp.286-298, 2007.
DOI : 10.1109/TSMCB.2006.886952

S. Calinon, Robot Programming by Demonstration: A Probabilistic Approach, 2009.

F. Vanden-berghen and H. Bersini, CONDOR, a new parallel, constrained extension of Powell's UOBYQA algorithm: Experimental results and comparison with the DFO algorithm, Journal of Computational and Applied Mathematics, vol.181, issue.1, pp.157-175, 2005.
DOI : 10.1016/j.cam.2004.11.029

M. Powell, UOBYQA: unconstrained optimization by quadratic approximation, Mathematical Programming, vol.92, issue.3, pp.555-582, 2002.
DOI : 10.1007/s101070100290

D. Benson, G. Huntington, T. Thorvaldsen, and A. Rao, Direct Trajectory Optimization and Costate Estimation via an Orthogonal Collocation Method, Journal of Guidance, Control, and Dynamics, vol.29, issue.6, pp.1435-1440, 2006.
DOI : 10.2514/1.20478

D. Garg, M. Patterson, W. Hager, A. Rao, and D. Benson, A unified framework for the numerical solution of optimal control problems using pseudospectral methods, Automatica, vol.46, issue.11, pp.1843-1851, 2010.
DOI : 10.1016/j.automatica.2010.06.048

A. Rao, D. Benson, C. Darby, M. Patterson, and C. Francolin, Algorithm 902, ACM Transactions on Mathematical Software, vol.37, issue.2, pp.1-39, 2010.
DOI : 10.1145/1731022.1731032

P. Gill, W. Murray, and M. Saunders, SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization, SIAM Review, vol.47, issue.1, pp.99-131, 2005.
DOI : 10.1137/S0036144504446096

L. Pontryagin, V. Boltyanskii, R. Gamkrelidze, and E. Mishchenko, The Mathematical Theory of Optimal Processes, 1964.

D. Rosenbaum, R. Meulenbroek, and J. Vaughan, Planning Reaching and Grasping Movements: Theoretical Premises and Practical Implications, Motor Control, vol.5, issue.2, pp.99-115, 2001.
DOI : 10.1123/mcj.5.2.99

R. Kiani and M. Shadlen, Representation of Confidence Associated with a Decision by Neurons in the Parietal Cortex, Science, vol.324, issue.5928, pp.759-764, 2009.
DOI : 10.1126/science.1169405

K. Körding, Decision Theory: What "Should" the Nervous System Do?, Science, vol.318, issue.5850, pp.606-610, 2007.
DOI : 10.1126/science.1142998

J. Trommershä-user, L. Maloney, and M. Landy, Decision making, movement planning and statistical decision theory, Trends in Cognitive Sciences, vol.12, issue.8, pp.291-297, 2008.
DOI : 10.1016/j.tics.2008.04.010

K. Körding and D. Wolpert, The loss function of sensorimotor learning, Proceedings of the National Academy of Sciences, vol.101, issue.26, pp.9839-9842, 2004.
DOI : 10.1073/pnas.0308394101

K. Körding, I. Fukunaga, I. Howard, J. Ingram, and D. Wolpert, A Neuroeconomics Approach to Inferring Utility Functions in Sensorimotor Control, PLoS Biology, vol.33, issue.10, p.330, 2004.
DOI : 10.1371/journal.pbio.0020330.g003

A. Terekhov, Y. Pesin, X. Niu, M. Latash, and V. Zatsiorsky, An analytical approach to the problem of inverse optimization with additive objective functions: an application to human prehension, Journal of Mathematical Biology, vol.148, issue.1, pp.423-453, 2010.
DOI : 10.1007/s00285-009-0306-3

A. Terekhov and V. Zatsiorsky, Analytical and numerical analysis of inverse optimization problems: conditions of uniqueness and computational methods, Biological Cybernetics, vol.31, issue.10, pp.75-93, 2011.
DOI : 10.1007/s00422-011-0421-2

R. Kalman, When Is a Linear Control System Optimal?, Journal of Basic Engineering, vol.86, issue.1, pp.51-60, 1964.
DOI : 10.1115/1.3653115

S. Boyd, L. Ghaoui, E. Feron, and V. Balakrishnan, Linear matrix inequalities in system and control theory, Philadelphia: SIAM, vol.15, p.193, 1994.
DOI : 10.1137/1.9781611970777

A. Ng and S. Russell, Algorithms for inverse reinforcement learning, Proc 17th International Conf. on Machine Learning, pp.663-670, 2000.

M. Desmurget, M. Jordan, C. Prablanc, and M. Jeannerod, Constrained and unconstrained movements involve different control strategies, J Neurophysiol, vol.77, pp.1644-1650, 1997.
URL : https://hal.archives-ouvertes.fr/hal-00655252

A. Biess, T. Flash, and D. Liebermann, Riemannian geometric approach to human arm dynamics, movement optimization, and invariance, Physical Review E, vol.83, issue.3, p.31927, 2011.
DOI : 10.1103/PhysRevE.83.031927

R. Alexander, Optima for animals, 1996.

E. Weibel, C. Taylor, and L. Bolis, Principles of Animal Design: The Optimization and Symmorphosis Debate, 1998.

C. Bernard, Leçons sur les phénomènes de la vie communs aux animaux et aux végétaux, 1879.
DOI : 10.5962/bhl.title.103133

URL : http://www.biodiversitylibrary.org/item/183467

W. Cannon, The Wisdom of the Body, 1932.

J. Nishii, Legged insects select the optimal locomotor pattern based on the energetic cost, Biological Cybernetics, vol.83, issue.5, pp.435-442, 2000.
DOI : 10.1007/s004220000175

R. Marshall, G. Wood, and L. Jennings, Performance objectives in human movement: A review and application to the stance phase of normal walking, Human Movement Science, vol.8, issue.6, pp.571-594, 1989.
DOI : 10.1016/0167-9457(89)90004-3

E. Todorov, W. Li, and X. Pan, From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators, Journal of Robotic Systems, vol.20, issue.11, pp.691-710, 2005.
DOI : 10.1002/rob.20093

D. Winter, Biomechanics and Motor Control of Human Movement, 1990.
DOI : 10.1002/9780470549148