@INPROCEEDINGS{9340883,
  author={Marti-Saumell, Josep and Solà, Joan and Mastalli, Carlos and Santamaria-Navarro, Angel},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Squash-Box Feasibility Driven Differential Dynamic Programming}, 
  year={2020},
  volume={},
  number={},
  pages={7637-7644},
  doi={10.1109/IROS45743.2020.9340883}}