Igor Mordatch, Jack M. Wang, Emanuel Todorov, Vladlen Koltun. Animating human lower limbs using contact-invariant optimization. ACM Trans. Graph., 32(6):203, 2013. [doi]
@article{MordatchWTK13,
title = {Animating human lower limbs using contact-invariant optimization},
author = {Igor Mordatch and Jack M. Wang and Emanuel Todorov and Vladlen Koltun},
year = {2013},
doi = {10.1145/2508363.2508365},
url = {http://doi.acm.org/10.1145/2508363.2508365},
researchr = {https://researchr.org/publication/MordatchWTK13},
cites = {0},
citedby = {0},
journal = {ACM Trans. Graph.},
volume = {32},
number = {6},
pages = {203},
}