# Nonsmooth Trajectory Optimization for Wheeled Balancing Robots With Contact Switches and Impacts

> Research article (IEEE Transactions on Robotics, 2023) · cited 20× · AI/ML

**Wikidata**: [openalex:W4387831910](https://www.wikidata.org/wiki/openalex:W4387831910)  
**Source**: https://4ort.xyz/entity/nonsmooth-trajectory-optimization-for-wheeled-balancing-robots-with-contact-switches-and-impacts