# Inverse dynamics trajectory optimization for contact-implicit model predictive control

> Research article (The International Journal of Robotics Research, 2025) · cited 11× · AI/ML

**Wikidata**: [openalex:W4410879364](https://www.wikidata.org/wiki/openalex:W4410879364)  
**Source**: https://4ort.xyz/entity/inverse-dynamics-trajectory-optimization-for-contact-implicit-model-predictive-control