# Contact Optimization for Non-Prehensile Loco-Manipulation via Hierarchical Model Predictive Control

> Research article (2023 IEEE International Conference on Robotics and Automation (ICRA), 2023) · cited 25× · AI/ML

**Wikidata**: [openalex:W4383109039](https://www.wikidata.org/wiki/openalex:W4383109039)  
**Source**: https://4ort.xyz/entity/contact-optimization-for-non-prehensile-loco-manipulation-via-hierarchical-model-predictive-control