# Whole-body model predictive control with rigid contacts via online switching time optimization

> Research article (2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4221167814](https://www.wikidata.org/wiki/openalex:W4221167814)  
**Source**: https://4ort.xyz/entity/whole-body-model-predictive-control-with-rigid-contacts-via-online-switching-time-optimization