@article{differentialdynamicprogrammingformulti,
  title = {Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics},
  author = {Rohan Budhiraja and Justin Carpentier and Carlos Mastalli and Nicolas Mansard},
  year = {2019},
  eprint = {1904.05072},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1904.05072v1},
}