@article{todorov_convex_nodate,
	title = {Convex and analytically-invertible dynamics with contacts and constraints: {Theory} and implementation in {MuJoCo}},
	shorttitle = {Convex and analytically-invertible dynamics with contacts and constraints},
	url = {http://homes.cs.washington.edu/~todorov/papers/TodorovICRA14.pdf},
	urldate = {2014-06-23},
	author = {Todorov, Emanuel}
}

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