@InProceedings{audren:2014:iros,
	author={Hervé Audren and Joris Vaillant and Abderrahmane Kheddar and Adrien Escande andKenji Kaneko and Eiichi Yoshida},
	booktitle={Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on},
	title={Model Preview Control in Multi-Contact Motion – Application to a Humanoid Robot},
	year={2014},
	month={September},
	pages={4030-4035},
	keywords={Computational modeling;Dynamics;Force;Legged locomotion;Timing;Trajectory},
	doi={10.1109/IROS.2014.6943129}
}