# Contact-implicit Model Predictive Control: Controlling diverse quadruped motions without pre-planned contact modes or trajectories

> Research article (The International Journal of Robotics Research, 2024) · cited 22× · AI/ML

**Wikidata**: [openalex:W4403035129](https://www.wikidata.org/wiki/openalex:W4403035129)  
**Source**: https://4ort.xyz/entity/contact-implicit-model-predictive-control-controlling-diverse-quadruped-motions-without-pre-planned-contact-modes-or-tra