# Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

> Research article (2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022) · cited 26× · AI/ML

**Wikidata**: [openalex:W4312271328](https://www.wikidata.org/wiki/openalex:W4312271328)  
**Source**: https://4ort.xyz/entity/simultaneous-contact-rich-grasping-and-locomotion-via-distributed-optimization-enabling-free-climbing-for-multi-limbed-r