@article{BiConMP_Meduri_2023,
  title = {BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning},
  journal = {IEEE Transactions on Robotics},
  volume = {39},
  number = {2},
  pages = {905--922},
  publisher = {IEEE},
  year = {2023},
  author = {Meduri, A. and Shah, P. and Viereck, J. and Khadiv, M. and Havoutis, I. and Righetti, L.},
  doi = {10.1109/TRO.2022.3228390},
  url = {https://ieeexplore.ieee.org/document/10008229}
}