@article{Jain:2011:CPC,
 author = {Jain, Sumit and Liu, C. Karen},
 title = {Controlling Physics-Based Characters Using Soft Contacts},
 journal = {ACM Trans. Graph. (SIGGRAPH Asia)},
 issue_date = {December 2011},
 volume = {30},
 issue = {6},
 month = dec,
 year = {2011},
 issn = {0730-0301},
 pages = {163:1--163:10},
 articleno = {163},
 numpages = {10},
 url = {http://doi.acm.org/10.1145/2070781.2024197},
 doi = {http://doi.acm.org/10.1145/2070781.2024197},
 acmid = {2024197},
 publisher = {ACM},
 address = {New York, NY, USA},
}