@inproceedings{serra:hal-01418402, TITLE = {{A Newton method with always feasible iterates for Nonlinear Model Predictive Control of walking in a multi-contact situation}}, AUTHOR = {Serra, Diana and Brasseur, Camille and Sherikov, Alexander and Dimitrov, Dimitar and Wieber, Pierre-Brice}, URL = {https://inria.hal.science/hal-01418402}, BOOKTITLE = {{IEEE-RAS 2016 - International Conference on Humanoid Robots (Humanoids)}}, ADDRESS = {Cancun, Mexico}, PUBLISHER = {{IEEE}}, PAGES = {932-937}, YEAR = {2016}, MONTH = Nov, DOI = {10.1109/HUMANOIDS.2016.7803384}, PDF = {https://inria.hal.science/hal-01418402/file/humanoids16_2.pdf}, HAL_ID = {hal-01418402}, HAL_VERSION = {v1}, }