# An Unconstrained Convex Formulation of Compliant Contact

> Research article (IEEE Transactions on Robotics, 2022) · cited 25× · AI/ML

**Wikidata**: [openalex:W4312858517](https://www.wikidata.org/wiki/openalex:W4312858517)  
**Source**: https://4ort.xyz/entity/an-unconstrained-convex-formulation-of-compliant-contact