@misc{chi2023geometric,
      title={Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors}, 
      author={Xuemin Chi and Tobias Löw and Yiming Li and Zhitao Liu and Sylvain Calinon},
      year={2023},
      eprint={2309.08802},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}