# Contact-implicit trajectory optimization using variational integrators

> Research article (The International Journal of Robotics Research, 2019) · cited 50× · AI/ML

**Wikidata**: [openalex:W2944972179](https://www.wikidata.org/wiki/openalex:W2944972179)  
**Source**: https://4ort.xyz/entity/contact-implicit-trajectory-optimization-using-variational-integrators