# Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR

> Research article (2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4312857607](https://www.wikidata.org/wiki/openalex:W4312857607)  
**Source**: https://4ort.xyz/entity/contact-implicit-trajectory-optimization-with-hydroelastic-contact-and-ilqr