# C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios

> Research article (IEEE Transactions on Robotics, 2020) · cited 54× · AI/ML

**Wikidata**: [openalex:W2905259751](https://www.wikidata.org/wiki/openalex:W2905259751)  
**Source**: https://4ort.xyz/entity/c-croc-continuous-and-convex-resolution-of-centroidal-dynamic-trajectories-for-legged-robots-in-multicontact-scenarios