# CROC: Convex Resolution of Centroidal Dynamics Trajectories to Provide a Feasibility Criterion for the Multi Contact Planning Problem

> Research article (2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018) · cited 53× · AI/ML

**Wikidata**: [openalex:W2789286310](https://www.wikidata.org/wiki/openalex:W2789286310)  
**Source**: https://4ort.xyz/entity/croc-convex-resolution-of-centroidal-dynamics-trajectories-to-provide-a-feasibility-criterion-for-the-multi-contact-plan