@article{saab2013dynamic,
  title   = {Dynamic whole-body motion generation under rigid contacts and
                  other unilateral constraints},
  author  = {Saab, Layale and Ramos, Oscar E and Keith, Fran{\c{c}}ois and
                  Mansard, Nicolas and Sou{\`e}res, Philippe and Fourquet, J},
  journal = {IEEE Transactions on Robotics},
  volume = {29},
  number = {2},
  pages  = {346--362},
  month  = {April},
  year   = {2013},
}