@inproceedings{budhiraja-ichr18,
  author={Budhiraja, Rohan and Carpentier, Justin and Mastalli, Carlos and Mansard, Nicolas},
  booktitle={IEEE-RAS International Conference on Humanoid Robots (ICHR)},
  title={{Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics}},
  year={2018}
}
