# Contact-Implicit Trajectory Optimization Based on a Variable Smooth Contact Model and Successive Convexification

> Research article (2019 International Conference on Robotics and Automation (ICRA), 2019) · cited 29× · AI/ML

**Wikidata**: [openalex:W2968602568](https://www.wikidata.org/wiki/openalex:W2968602568)  
**Source**: https://4ort.xyz/entity/contact-implicit-trajectory-optimization-based-on-a-variable-smooth-contact-model-and-successive-convexification