@article{paper:shield-contact-2022,
  author        = {Stacey Leigh Shield and Aaron M. Johnson and Amir Patel},
  title         = {Contact-Implicit Direct Collocation with a Discontinuous Velocity State},
  journal       = {IEEE Robotics and Automation Letters},
  year          = {2022},
  volume        = {7},
  number        = {2},
  pages         = {5779--5786},
  keywords      = {Optimization, Control, Contact},
  url_Publisher = {https://ieeexplore.ieee.org/abstract/document/9739950},
  url_DOI       = {https://doi.org/10.1109/LRA.2022.3160077},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/RAL2022_Contact-implicit.pdf}
}

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