@conference {3724,
	title = {Approximate hybrid model predictive control for multi-contact push recovery in complex environments},
	booktitle = {IEEE RAS International Conference on Humanoid Robots},
	year = {2018},
	doi = { 10.1109/HUMANOIDS.2017.8239534},
	author = {T. Marcucci and R. Deits and M. Gabiccini and A. Bicchi and R. Tedrake}
}
