Igor Mordatch, Emanuel Todorov, Zoran Popovic. Discovery of complex behaviors through contact-invariant optimization. ACM Trans. Graph., 31(4):43, 2012. [doi]
@article{MordatchTP12,
title = {Discovery of complex behaviors through contact-invariant optimization},
author = {Igor Mordatch and Emanuel Todorov and Zoran Popovic},
year = {2012},
doi = {10.1145/2185520.2185539},
url = {http://doi.acm.org/10.1145/2185520.2185539},
researchr = {https://researchr.org/publication/MordatchTP12},
cites = {0},
citedby = {0},
journal = {ACM Trans. Graph.},
volume = {31},
number = {4},
pages = {43},
}