# Versatile multicontact planning and control for legged loco-manipulation

> Research article (Science Robotics, 2023) · cited 66× · AI/ML

**Wikidata**: [openalex:W4385858056](https://www.wikidata.org/wiki/openalex:W4385858056)  
**Source**: https://4ort.xyz/entity/versatile-multicontact-planning-and-control-for-legged-loco-manipulation