@inproceedings{mason_mpc_2018, title = {An {MPC} {Walking} {Framework} {With} {External} {Contact} {Forces}}, author = {Mason, Sean and Rotella, Nicholas and Schaal, Stefan and Righetti, Ludovic}, booktitle = {2018 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})}, pages = {1785--1790}, publisher = {IEEE}, address = {Brisbane, Australia}, month = may, year = {2018}, doi = {10.1109/ICRA.2018.8461236}, url = {https://arxiv.org/abs/1712.09308}, month_numeric = {5} }