@conference {56,
	title = {Discovery of complex behaviors through contact-invariant optimization},
	booktitle = {ACM SIGGRAPH},
	year = {2012},
	author = {I. Mordatch and E. Todorov and Z. Popovic}
}
@conference {61,
	title = {Design and analysis of an artificial finger joint for anthropomorphic robotic hands},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2011},
	author = {Z. Xu and E. Todorov and B. Dellon and Y. Matsuoka}
}
